Forcebased impedance control of a haptic master system for teleoperation
Identifieur interne : 001602 ( Istex/Curation ); précédent : 001601; suivant : 001603Forcebased impedance control of a haptic master system for teleoperation
Auteurs : A. Frisoli [Italie] ; E. Sotgiu [Italie] ; C. A. Avizzano [Italie] ; D. Checcacci [Italie] ; M. Bergamasco [Italie]Source :
- Sensor Review [ 0260-2288 ] ; 2004-03-01.
Abstract
This paper analyzes the design of a forcebased impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closedloop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.
Url:
DOI: 10.1108/02602280410515815
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: Pour aller vers cette notice dans l'étape Curation :001602
Links to Exploration step
ISTEX:CA0E3787936B230B4AB0B5763ECFD49E44095319Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Forcebased impedance control of a haptic master system for teleoperation</title><author><name sortKey="Frisoli, A" sort="Frisoli, A" uniqKey="Frisoli A" first="A." last="Frisoli">A. Frisoli</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Sotgiu, E" sort="Sotgiu, E" uniqKey="Sotgiu E" first="E." last="Sotgiu">E. Sotgiu</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Avizzano, C A" sort="Avizzano, C A" uniqKey="Avizzano C" first="C. A." last="Avizzano">C. A. Avizzano</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Checcacci, D" sort="Checcacci, D" uniqKey="Checcacci D" first="D." last="Checcacci">D. Checcacci</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Bergamasco, M" sort="Bergamasco, M" uniqKey="Bergamasco M" first="M." last="Bergamasco">M. Bergamasco</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:CA0E3787936B230B4AB0B5763ECFD49E44095319</idno><date when="2004" year="2004">2004</date><idno type="doi">10.1108/02602280410515815</idno><idno type="url">https://api.istex.fr/document/CA0E3787936B230B4AB0B5763ECFD49E44095319/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">001602</idno><idno type="wicri:Area/Istex/Curation">001602</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Forcebased impedance control of a haptic master system for teleoperation</title><author><name sortKey="Frisoli, A" sort="Frisoli, A" uniqKey="Frisoli A" first="A." last="Frisoli">A. Frisoli</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Sotgiu, E" sort="Sotgiu, E" uniqKey="Sotgiu E" first="E." last="Sotgiu">E. Sotgiu</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Avizzano, C A" sort="Avizzano, C A" uniqKey="Avizzano C" first="C. A." last="Avizzano">C. A. Avizzano</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Checcacci, D" sort="Checcacci, D" uniqKey="Checcacci D" first="D." last="Checcacci">D. Checcacci</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author><author><name sortKey="Bergamasco, M" sort="Bergamasco, M" uniqKey="Bergamasco M" first="M." last="Bergamasco">M. Bergamasco</name><affiliation wicri:level="1"><mods:affiliation>PERCRO Scuola Superiore, Sant'Anna, Pisa, Italy</mods:affiliation><country xml:lang="fr">Italie</country><wicri:regionArea>PERCRO Scuola Superiore, Sant'Anna, Pisa</wicri:regionArea></affiliation></author></analytic><monogr></monogr><series><title level="j">Sensor Review</title><idno type="ISSN">0260-2288</idno><imprint><publisher>Emerald Group Publishing Limited</publisher><date type="published" when="2004-03-01">2004-03-01</date><biblScope unit="volume">24</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="42">42</biblScope><biblScope unit="page" to="50">50</biblScope></imprint><idno type="ISSN">0260-2288</idno></series><idno type="istex">CA0E3787936B230B4AB0B5763ECFD49E44095319</idno><idno type="DOI">10.1108/02602280410515815</idno><idno type="filenameID">0870240105</idno><idno type="original-pdf">0870240105.pdf</idno><idno type="href">02602280410515815.pdf</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0260-2288</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper analyzes the design of a forcebased impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closedloop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Istex/Curation
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001602 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Istex/Curation/biblio.hfd -nk 001602 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Istex
|étape= Curation
|type= RBID
|clé= ISTEX:CA0E3787936B230B4AB0B5763ECFD49E44095319
|texte= Forcebased impedance control of a haptic master system for teleoperation
}}
| This area was generated with Dilib version V0.6.23. |  |