A geometric constraint-based approach to force and motion coupling between real and virtual mechanisms

被引：2

作者：

Zafer, Naci ^{[1
]}

Luecke, Greg R.

机构：

[1] Eskisehir Osmangazi Univ, Dept Mech Engn, TR-26480 Eskisehir, Turkey

[2] Iowa State Univ, Dept Mech Engn, Ames, IA 50011 USA

来源：

ADVANCED ROBOTICS | 2007年 / 21卷 / 12期

关键词：

impedance control; haptic display; virtual mechanism; kinematic constraint;

D O I：

10.1163/156855307781746098

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a new stable controller design for use with a general 6-d.o.f. robotic haptic device. A virtual manipulator concept is developed that couples the haptic device kinematics with the constraints of a simulated manipulator. Using impedance-based constraints, the haptic device is controlled to oppose applied forces in directions orthogonal to the motions of the virtual manipulator. The virtual manipulator kinematics constrains the haptic device motion, allowing motion to simulate specific virtual mechanisms. The implementation is illustrated using experimental simulations.

引用

页码：1393 / 1410

页数：18

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