@inproceedings{69f7e443b068482fb9e5c970d0a5adaa,
title = "Design optimization, impedance control and characterization of a Modified Delta Robot",
abstract = "Optimal dimensional synthesis, impedance control and experimental characterization a Modified Delta Mechanism based haptic interface are presented. In particular, a multi-criteria design optimization problem is formulated to maximize the transparency of the device. Kinetostatic and dynamic performance indices are optimized simultaneously to reveal design trade-offs between these metrics and an optimal solution is selected from the non-dominated solution set by studying these design trade-offs and considering primary design criteria. A prototype Modified Delta Robot with the optimal dimensions is constructed. A high fidelity model of the robot is formulated and the device is controlled using open-loop impedance control. Finally, the performance of the device is tested and experimental characterization results are presented.",
keywords = "haptic interface, multi-criteria design optimization",
author = "Ergin, {Mehmet Alper} and Satici, {Aykut Cihan} and Volkan Patoglu",
year = "2011",
doi = "10.1109/ICMECH.2011.5971212",
language = "English",
isbn = "9781612849836",
series = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",
pages = "737--742",
booktitle = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",
note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",
}