Improving Haptic Device Stability through Redundancy Resolution

Abbas Karami; Ahmad Mashayekhi

Improving Haptic Device Stability through Redundancy Resolution

Research output: Chapter in Book/Report/Conference proceeding › Conference paper

Abstract

Employing robot redundancy is proposed for increasing the stability domain of haptic interfaces during interaction with stiff virtual environments. To this end, non-strict priority allocation is accomplished. Haptic device (HD) joint space is searched by Artificial Bee Colony (ABC) optimization algorithm to find the most stable configuration in a specific end effector position. Sensor quantization along with viscosity and Coulomb friction in robot joints are considered in the redundant
HD model without any conservative assumption. A verified 1-DOF simplified model is employed for stability analysis. The method is evaluated by studying KUKA LWR IV as a redundant HD in MATLAB.

Original language	English
Title of host publication	International Conference on Robotics and Mechatronics
Publication status	Published - 2022
Externally published	Yes

Keywords

Haptic device
Stability analysis
redundancy resolution
OPTIMIZATION

Cite this

@inproceedings{8252c753aa8f48358cf874d14fd038f0,

title = "Improving Haptic Device Stability through Redundancy Resolution",

abstract = "Employing robot redundancy is proposed for increasing the stability domain of haptic interfaces during interaction with stiff virtual environments. To this end, non-strict priority allocation is accomplished. Haptic device (HD) joint space is searched by Artificial Bee Colony (ABC) optimization algorithm to find the most stable configuration in a specific end effector position. Sensor quantization along with viscosity and Coulomb friction in robot joints are considered in the redundantHD model without any conservative assumption. A verified 1-DOF simplified model is employed for stability analysis. The method is evaluated by studying KUKA LWR IV as a redundant HD in MATLAB.",

keywords = "Haptic device, Stability analysis, redundancy resolution, OPTIMIZATION",

author = "Abbas Karami and Ahmad Mashayekhi",

year = "2022",

language = "English",

booktitle = "International Conference on Robotics and Mechatronics",

}

TY - GEN

T1 - Improving Haptic Device Stability through Redundancy Resolution

AU - Karami, Abbas

AU - Mashayekhi, Ahmad

PY - 2022

Y1 - 2022

N2 - Employing robot redundancy is proposed for increasing the stability domain of haptic interfaces during interaction with stiff virtual environments. To this end, non-strict priority allocation is accomplished. Haptic device (HD) joint space is searched by Artificial Bee Colony (ABC) optimization algorithm to find the most stable configuration in a specific end effector position. Sensor quantization along with viscosity and Coulomb friction in robot joints are considered in the redundantHD model without any conservative assumption. A verified 1-DOF simplified model is employed for stability analysis. The method is evaluated by studying KUKA LWR IV as a redundant HD in MATLAB.

AB - Employing robot redundancy is proposed for increasing the stability domain of haptic interfaces during interaction with stiff virtual environments. To this end, non-strict priority allocation is accomplished. Haptic device (HD) joint space is searched by Artificial Bee Colony (ABC) optimization algorithm to find the most stable configuration in a specific end effector position. Sensor quantization along with viscosity and Coulomb friction in robot joints are considered in the redundantHD model without any conservative assumption. A verified 1-DOF simplified model is employed for stability analysis. The method is evaluated by studying KUKA LWR IV as a redundant HD in MATLAB.

KW - Haptic device

KW - Stability analysis

KW - redundancy resolution

KW - OPTIMIZATION

M3 - Conference paper

BT - International Conference on Robotics and Mechatronics

ER -

Improving Haptic Device Stability through Redundancy Resolution

Abstract

Keywords

Fingerprint

Cite this