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

共 50 条

[41] Labeling of human motion by constraint-based genetic algorithm
Hu, Fu Yuan
Wong, Hau San
Liu, Zhi Qiang
Qu, Hui Yang
2006 INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND SECURITY, PTS 1 AND 2, PROCEEDINGS, 2006, : 191 - 196
[42] Interactive variation of geometric shapes inside a constraint-based environment
Kolmanic, S
Zalik, B
WSCG '97: THE FIFTH INTERNATIONAL CONFERENCE IN CENTRAL EUROPE ON COMPUTER GRAPHICS AND VISUALIZATION '97, CONFERENCE PROCEEDINGS, VOL 1-4, 1997, : 222 - 231
[43] An incremental constraint-based framework for task and motion planning
Dantam, Neil T.
Kingston, Zachary K.
Chaudhuri, Swarat
Kavraki, Lydia E.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2018, 37 (10): : 1134 - 1151
[44] A framework to support multiple views in geometric constraint-based models
Joan-Arinyo, R
Soto, A
Vila, S
Vilaplana, J
ETFA 2001: 8TH IEEE INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION, VOL 1, PROCEEDINGS, 2001, : 575 - 579
[45] Application of a generic constraint-based programming approach to an industrially relevant robot task with geometric uncertainties
Decre, Wilm
De Laet, Tinne
Rutgeerts, Johan
Brayninckx, Herman
De Schutter, Joris
EUROCON 2007: THE INTERNATIONAL CONFERENCE ON COMPUTER AS A TOOL, VOLS 1-6, 2007, : 2772 - 2778
[46] A constraint-based approach to linguistic interfaces INTRODUCTION
Bilbiie, Gabriela
LINGUISTICAE INVESTIGATIONES, 2020, 43 (01): : 1 - 22
[47] Scheduling of maintenance work: A constraint-based approach
Palma, J.
de Leon Hijes, F. C. Gomez
Campos Martinez, M.
Guillen Carceles, L.
EXPERT SYSTEMS WITH APPLICATIONS, 2010, 37 (04) : 2963 - 2973
[48] Resyllabification in Standard Arabic: A Constraint-Based Approach
Btoosh, Mousa A.
SKASE JOURNAL OF THEORETICAL LINGUISTICS, 2019, 16 (02): : 2 - 24
[49] A constraint-based approach for distributed decision support
Erschler, J
Huguet, MJ
COOP '96 - SECOND INTERNATIONAL WORKSHOP ON THE DESIGN OF COOPERATIVE SYSTEMS, 1996, : 587 - 603
[50] A Constraint-based Approach to Sustainable Design and Development
Liang, Helen
Mullineux, Glen
Hammond, Geoff
PROCEEDINGS OF NORDDESIGN 2008, 2008, : 181 - 189

← 1 2 3 4 5 →