The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic displays, surgical robots, teleoperation, and manufacl1u•ing. This paper describes a passive manipulator with a redundant actuation scheme which allows for enhanced control capabilities and greater overall utility. An algorithm for determining passive actuator excitations from generally active control laws is presented. The torque translation algorithm is a graphical method based upon using knowledge of the specific passivity-induced constraints to select a subset of the available actuators to provide an acceptable output torque. The algorithm successfully provides a set of passive actuator torques for all manipulator states, and experimental results are given.
A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, gravity, or fluid flow. Possible applications include computer assisted surgery, haptic displays, exercise machines, and teleoperator masters. Advantages of the passive approach taken include safety from run away motors and freedom from supplying substantial amounts of energy to the device. This paper describes the concept and how it has been implemented and shows feasibility through initial experiments with simple control of a prototype system.
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