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Takaiwa, Masahiro Okayama University
Noritsugu, Toshiro Okayama University
Fujie, Kenichi Okayama Univeristy
The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. A pneumatic parallel manipulator is introduced as a driving mechanism, which consequently brings the capability of minute force displaying property owing to the air compressibility. A compliance control system without using force/moment sensor is constructed by introducing a disturbance observer, and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.
Published with permission from the copyright holder. this is the institute's copy, as published in SICE 2002. Proceedings of the 41st SICE Annual Conference, Date: 5-7 Aug. 2002, Volume 3, Pages 1724-1727.
Copyright © 2002 IEEE. All rights reserved.
SICE 2002. Proceedings of the 41st SICE Annual Conference