Analysis and design of a haptic control system: Virtual reality approach
Identifieur interne : 007973 ( Main/Merge ); précédent : 007972; suivant : 007974Analysis and design of a haptic control system: Virtual reality approach
Auteurs : M.-G. Her [Taïwan] ; K.-S. Hsu [Taïwan] ; W.-S. Yu [Taïwan]Source :
- International journal, advanced manufacturing technology [ 0268-3768 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique, Réalité virtuelle.
English descriptors
- KwdEn :
Abstract
In this paper, the analysis and design of telerobotics based on the haptic virtual reality (VR) approach for simulating the clay cutting system is proposed. The main components of the approach include a user interface, networking, simulation, and a robot control scheme. The telerobotics for the clay cutting system and the environment is simulated by a haptic virtual system that enables operators to feel the actual force feedback from the virtual environment just as they would from the real environment. The haptic virtual system integrates the dynamics of the cutting tool and the virtual environment whereas the handle actuator consists of the dynamics of the handle and the operator on the physical side. The control scheme employs a dynamical controller which is designed considering both the force and position that the operator imposes on the handle and feedforward to the cutting tool, and the environmental force imposed on the cutting tool and the feedback to the handle. The stability robustness of the closed-loop system is analysed based on the Nyquist stability criterion. It is shown that the proposed control scheme guarantees global stability of the system, with the output of the cutting tool approaching that of the handle when the ratios of the position and the force are selected correctly. Experiments in the virtual environment on cutting a virtual clay system are used to validate the theoretical developments.
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Pascal:02-0521820Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Analysis and design of a haptic control system: Virtual reality approach</title><author><name sortKey="Her, M G" sort="Her, M G" uniqKey="Her M" first="M.-G." last="Her">M.-G. Her</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author><author><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K.-S." last="Hsu">K.-S. Hsu</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author><author><name sortKey="Yu, W S" sort="Yu, W S" uniqKey="Yu W" first="W.-S." last="Yu">W.-S. Yu</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">02-0521820</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 02-0521820 INIST</idno><idno type="RBID">Pascal:02-0521820</idno><idno type="wicri:Area/PascalFrancis/Corpus">001239</idno><idno type="wicri:Area/PascalFrancis/Curation">000273</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001033</idno><idno type="wicri:doubleKey">0268-3768:2002:Her M:analysis:and:design</idno><idno type="wicri:Area/Main/Merge">007973</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Analysis and design of a haptic control system: Virtual reality approach</title><author><name sortKey="Her, M G" sort="Her, M G" uniqKey="Her M" first="M.-G." last="Her">M.-G. Her</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author><author><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K.-S." last="Hsu">K.-S. Hsu</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author><author><name sortKey="Yu, W S" sort="Yu, W S" uniqKey="Yu W" first="W.-S." last="Yu">W.-S. Yu</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Tatung University, 40 Chung-Sang North Road 3rd Sec</s1><s2>Taipei</s2><s3>TWN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Taipei</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">International journal, advanced manufacturing technology</title><title level="j" type="abbreviated">Int. j. adv. manuf. technol.</title><idno type="ISSN">0268-3768</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International journal, advanced manufacturing technology</title><title level="j" type="abbreviated">Int. j. adv. manuf. technol.</title><idno type="ISSN">0268-3768</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Control synthesis</term><term>Remote operation</term><term>Robotics</term><term>Stability</term><term>Tactile sensitivity</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Téléopération</term><term>Réalité virtuelle</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Synthèse commande</term><term>Stabilité</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this paper, the analysis and design of telerobotics based on the haptic virtual reality (VR) approach for simulating the clay cutting system is proposed. The main components of the approach include a user interface, networking, simulation, and a robot control scheme. The telerobotics for the clay cutting system and the environment is simulated by a haptic virtual system that enables operators to feel the actual force feedback from the virtual environment just as they would from the real environment. The haptic virtual system integrates the dynamics of the cutting tool and the virtual environment whereas the handle actuator consists of the dynamics of the handle and the operator on the physical side. The control scheme employs a dynamical controller which is designed considering both the force and position that the operator imposes on the handle and feedforward to the cutting tool, and the environmental force imposed on the cutting tool and the feedback to the handle. The stability robustness of the closed-loop system is analysed based on the Nyquist stability criterion. It is shown that the proposed control scheme guarantees global stability of the system, with the output of the cutting tool approaching that of the handle when the ratios of the position and the force are selected correctly. Experiments in the virtual environment on cutting a virtual clay system are used to validate the theoretical developments.</div></front></TEI><affiliations><list><country><li>Taïwan</li></country></list><tree><country name="Taïwan"><noRegion><name sortKey="Her, M G" sort="Her, M G" uniqKey="Her M" first="M.-G." last="Her">M.-G. Her</name></noRegion><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K.-S." last="Hsu">K.-S. Hsu</name><name sortKey="Yu, W S" sort="Yu, W S" uniqKey="Yu W" first="W.-S." last="Yu">W.-S. Yu</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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