The Cobotic Hand Controller : Design , Control and Analysis of a Novel Haptic Display

The Cobotic Hand Controller: Design, Control and Analysis of a Novel HapticDisplayEric L. Faulring Haptic displays utilizing cobotic technology are able to simulate virtual environ-ments with high dynamic range. The use of nonholonomic, continuously variabletransmissions allows for extremely high stiffness in directions that would violate avirtual constraint. At the same time, smooth, unimpeded motion is permitted tan-gential to virtual constraints and in open space.This thesis introduces a novel six-degree-of-freedom cobot, utilizing six continu-ously variable rotational-to-linear transmissions connected in parallel to a commonpower cylinder. A controller is developed to best utilize the control freedom of thisredundantly actuated cobot. Kinematics and dynamics of the Hand Controller arederived, along with extensive characterization of its overall control architecture andresulting performance. An admittance device framework for physically accurate hap-tic display of bilateral constraints and inertia is developed and examples provided.