Design and control of a planar haptic device with passive actuators based on passive force manipulability ellipsoid (FME) analysis

DOI10.1002/ROB.20080zbMath1119.70008OpenAlexW4253147995MaRDI QIDQ3423841

Munsang Kim, Changhyun Cho, Jae-Bok Song

Publication date: 15 February 2007

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.20080

zbMATH Keywords

performance indices5-bar mechanismcoercive force approximation scheme

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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