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Numerical Methods for the Force Reflection of Contact
 

Summary: Numerical Methods for
the Force Reflection of Contact
R. E. Ellis

N. Sarkar

M. A. Jenkins


Department of Computing and Information Science

Department of Mechanical Engineering
Queen's University, Kingston, CANADA K7L 3N6
ABSTRACT
An important problem in the field of force-reflecting systems and telerobotics is poor rendering of contact,
particularly of contact with stiff surfaces. There are numerous possible sources of poor performance, including
poor contact models, sampling errors, and delays due to computation or data transmission. In this paper we
examine effects due to sample-and-hold, which is a fundamental property of both the discrete domain and also of
the sensors and power amplifiers used in a force-reflecting system.
We propose that the sample-and-hold concept be generalized to sample-estimate-hold. We show why ordinary

  

Source: Abolmaesumi, Purang - School of Computing, Queen's University (Kingston)

 

Collections: Computer Technologies and Information Sciences