HapticV1, PascalFrancis, Corpus, bibRecord, 001160

Controller design for a 3 D. O. F haptic interface device

Identifieur interne : 001160 ( PascalFrancis/Corpus ); précédent : 001159; suivant : 001161

Controller design for a 3 D. O. F haptic interface device

Auteurs : CUI ZE ; ZHAO JIE ; CAI HEGAO

Source :

High technology letters [ 1006-6748 ] ; 2002.

RBID : Pascal:03-0339198

Descripteurs français

Pascal (Inist)
- Synthèse commande, Téléopération, Synthèse mécanisme, Commande force, Commande floue, Commande logique, Autoapprentissage, Sensibilité tactile, Réalité virtuelle.

English descriptors

KwdEn :
- Control synthesis, Force control, Fuzzy control, Logic control, Mechanism synthesis, Remote operation, Self learning, Tactile sensitivity, Virtual reality.

Abstract

This paper presents a novel 3 D. O. F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cables as transmission components and mass balances to eliminate the gravity effect and so on. The dynamics of haptic interface including actuating device is also studied. In order to provide operator with fidelity kinesthetic information, we design a force controller using self-learning fuzzy logic control. The simulation result verifies the effectiveness of the control method.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A01	`01`	`1`		`@0 1006-6748`
A03		`1`		`@0 High technol. lett.`
A05				`@2 8`
A06				`@2 4`
A08	`01`	`1`	`ENG`	`@1 Controller design for a 3 D. O. F haptic interface device`
A11	`01`	`1`		`@1 CUI ZE`
A11	`02`	`1`		`@1 ZHAO JIE`
A11	`03`	`1`		`@1 CAI HEGAO`
A14	`01`			`@1 Robot Research Institute, Harbin Institute of Technology @2 Harbin 150001 @3 CHN @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A20				`@1 69-73`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 26311 @5 354000118426720150`
A44				`@0 0000 @1 © 2003 INIST-CNRS. All rights reserved.`
A45				`@0 5 ref.`
A47	`01`	`1`		`@0 03-0339198`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 High technology letters`
A66	`01`			`@0 CHN`
C01	`01`		`ENG`	@0 This paper presents a novel 3 D. O. F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cables as transmission components and mass balances to eliminate the gravity effect and so on. The dynamics of haptic interface including actuating device is also studied. In order to provide operator with fidelity kinesthetic information, we design a force controller using self-learning fuzzy logic control. The simulation result verifies the effectiveness of the control method.
C02	`01`	`X`		`@0 001D02D07`
C02	`02`	`X`		`@0 001D02C02`
C03	`01`	`X`	`FRE`	`@0 Synthèse commande @5 02`
C03	`01`	`X`	`ENG`	`@0 Control synthesis @5 02`
C03	`01`	`X`	`SPA`	`@0 Síntesis control @5 02`
C03	`02`	`X`	`FRE`	`@0 Téléopération @5 03`
C03	`02`	`X`	`ENG`	`@0 Remote operation @5 03`
C03	`02`	`X`	`SPA`	`@0 Teleacción @5 03`
C03	`03`	`X`	`FRE`	`@0 Synthèse mécanisme @5 04`
C03	`03`	`X`	`ENG`	`@0 Mechanism synthesis @5 04`
C03	`03`	`X`	`SPA`	`@0 Síntesis mecanismo @5 04`
C03	`04`	`X`	`FRE`	`@0 Commande force @5 06`
C03	`04`	`X`	`ENG`	`@0 Force control @5 06`
C03	`04`	`X`	`SPA`	`@0 Control fuerza @5 06`
C03	`05`	`X`	`FRE`	`@0 Commande floue @5 07`
C03	`05`	`X`	`ENG`	`@0 Fuzzy control @5 07`
C03	`05`	`X`	`SPA`	`@0 Control difusa @5 07`
C03	`06`	`X`	`FRE`	`@0 Commande logique @5 08`
C03	`06`	`X`	`ENG`	`@0 Logic control @5 08`
C03	`06`	`X`	`SPA`	`@0 Control lógico @5 08`
C03	`07`	`X`	`FRE`	`@0 Autoapprentissage @5 09`
C03	`07`	`X`	`ENG`	`@0 Self learning @5 09`
C03	`07`	`X`	`SPA`	`@0 Autodidactismo @5 09`
C03	`08`	`X`	`FRE`	`@0 Sensibilité tactile @5 17`
C03	`08`	`X`	`ENG`	`@0 Tactile sensitivity @5 17`
C03	`08`	`X`	`SPA`	`@0 Sensibilidad tactil @5 17`
C03	`09`	`X`	`FRE`	`@0 Réalité virtuelle @5 19`
C03	`09`	`X`	`ENG`	`@0 Virtual reality @5 19`
C03	`09`	`X`	`SPA`	`@0 Realidad virtual @5 19`
N21				`@1 237`
N82				`@1 PSI`

Format Inist (serveur)

NO :	PASCAL 03-0339198 INIST
ET :	Controller design for a 3 D. O. F haptic interface device
AU :	CUI ZE; ZHAO JIE; CAI HEGAO
AF :	Robot Research Institute, Harbin Institute of Technology/Harbin 150001/Chine (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	High technology letters; ISSN 1006-6748; Chine; Da. 2002; Vol. 8; No. 4; Pp. 69-73; Bibl. 5 ref.
LA :	Anglais
EA :	This paper presents a novel 3 D. O. F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cables as transmission components and mass balances to eliminate the gravity effect and so on. The dynamics of haptic interface including actuating device is also studied. In order to provide operator with fidelity kinesthetic information, we design a force controller using self-learning fuzzy logic control. The simulation result verifies the effectiveness of the control method.
CC :	001D02D07; 001D02C02
FD :	Synthèse commande; Téléopération; Synthèse mécanisme; Commande force; Commande floue; Commande logique; Autoapprentissage; Sensibilité tactile; Réalité virtuelle
ED :	Control synthesis; Remote operation; Mechanism synthesis; Force control; Fuzzy control; Logic control; Self learning; Tactile sensitivity; Virtual reality
SD :	Síntesis control; Teleacción; Síntesis mecanismo; Control fuerza; Control difusa; Control lógico; Autodidactismo; Sensibilidad tactil; Realidad virtual
LO :	INIST-26311.354000118426720150
ID :	03-0339198

Links to Exploration step

Pascal:03-0339198

Le document en format XML

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<ET>Controller design for a 3 D. O. F haptic interface device</ET>
<AU>CUI ZE; ZHAO JIE; CAI HEGAO</AU>
<AF>Robot Research Institute, Harbin Institute of Technology/Harbin 150001/Chine (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
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<EA>This paper presents a novel 3 D. O. F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cables as transmission components and mass balances to eliminate the gravity effect and so on. The dynamics of haptic interface including actuating device is also studied. In order to provide operator with fidelity kinesthetic information, we design a force controller using self-learning fuzzy logic control. The simulation result verifies the effectiveness of the control method.</EA>
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Controller design for a 3 D. O. F haptic interface device

Controller design for a 3 D. O. F haptic interface device

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

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