4 accepted papers
This paper proposes a 6 degree of freedom (DoF) manipulator for haptic application. The proposed haptic device, named GHap, is designed based on the four-bar-linkage mechanism for linear motion with the ring-type gimbal mechanism. To improve the force display ability, the device is designed to compe…
This paper revisits computed torque method for robot manipulators and aims at developing its new framework based on the L_{1}L_{1} robustness, in which the L_{\infty}L_{\infty} norm together with its induced norm is employed to characterize model uncertainties and a performance measure. More precise…
This paper presents a novel haptic device, named VirtuaPower, having abilities of 6 degrees of freedom (DOF) position measurement with a high-force display capability and wide workspace. The VirtuaPower is designed as a parallel mechanism with double in-parallel supporting chains. The mechanical des
In this paper, we consider the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> optimal proportional-derivative (PD) controller synthesis by which the L <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xli