Haptic direct-drive robot control scheme in virtual reality
Identifieur interne : 007382 ( Main/Exploration ); précédent : 007381; suivant : 007383Haptic direct-drive robot control scheme in virtual reality
Auteurs : M. G. Her [Taïwan] ; K. S. Hsu ; T. S. Lan ; M. KarkoubSource :
- Journal of Intelligent and Robotic Systems: Theory and Applications [ 0921-0296 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
- KwdEn :
- Constraint theory, Control system synthesis, Direct drive arm manipulator, Direct drive robot control, Experiments, Feedback control, Force control, Haptic interfaces, Haptic robot control, Human arm dynamics, Human computer interaction, Intelligent control, Intelligent robots, Manipulators, Nyquist stability criterion, Robot effector handler, System stability, Theory, Two dimensional, Two dimensional manipulator, Virtual reality.
Abstract
This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment.
Affiliations:
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Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Haptic direct-drive robot control scheme in virtual reality</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</s1><s2>Taipei, 10451</s2><s3>TWN</s3><sZ>1 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Department of Mechanical Engineering Tatung University</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></author><author><name sortKey="Lan, T S" sort="Lan, T S" uniqKey="Lan T" first="T. S." last="Lan">T. S. Lan</name></author><author><name sortKey="Karkoub, M" sort="Karkoub, M" uniqKey="Karkoub M" first="M." last="Karkoub">M. Karkoub</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">03-0044584</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 03-0044584 EI</idno><idno type="RBID">Pascal:03-0044584</idno><idno type="wicri:Area/PascalFrancis/Corpus">001215</idno><idno type="wicri:Area/PascalFrancis/Curation">000296</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000F90</idno><idno type="wicri:doubleKey">0921-0296:2002:Her M:haptic:direct:drive</idno><idno type="wicri:Area/Main/Merge">007930</idno><idno type="wicri:Area/Main/Curation">007382</idno><idno type="wicri:Area/Main/Exploration">007382</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Haptic direct-drive robot control scheme in virtual reality</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</s1><s2>Taipei, 10451</s2><s3>TWN</s3><sZ>1 aut.</sZ></inist:fA14><country>Taïwan</country><wicri:noRegion>Department of Mechanical Engineering Tatung University</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></author><author><name sortKey="Lan, T S" sort="Lan, T S" uniqKey="Lan T" first="T. S." last="Lan">T. S. Lan</name></author><author><name sortKey="Karkoub, M" sort="Karkoub, M" uniqKey="Karkoub M" first="M." last="Karkoub">M. Karkoub</name></author></analytic><series><title level="j" type="main">Journal of Intelligent and Robotic Systems: Theory and Applications</title><title level="j" type="abbreviated">J Intell Rob Syst Theor Appl</title><idno type="ISSN">0921-0296</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of Intelligent and Robotic Systems: Theory and Applications</title><title level="j" type="abbreviated">J Intell Rob Syst Theor Appl</title><idno type="ISSN">0921-0296</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Constraint theory</term><term>Control system synthesis</term><term>Direct drive arm manipulator</term><term>Direct drive robot control</term><term>Experiments</term><term>Feedback control</term><term>Force control</term><term>Haptic interfaces</term><term>Haptic robot control</term><term>Human arm dynamics</term><term>Human computer interaction</term><term>Intelligent control</term><term>Intelligent robots</term><term>Manipulators</term><term>Nyquist stability criterion</term><term>Robot effector handler</term><term>System stability</term><term>Theory</term><term>Two dimensional</term><term>Two dimensional manipulator</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term><term>Robot intelligent</term><term>Interface haptique</term><term>Réalité virtuelle</term><term>Modèle 2 dimensions</term><term>Manipulateur</term><term>Synthèse système commande</term><term>Relation homme machine</term><term>Commande force</term><term>Commande contre réaction</term><term>Stabilité système</term><term>Théorie contrainte</term><term>Contrôle intelligent</term><term>Expérience</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment.</div></front></TEI><affiliations><list><country><li>Taïwan</li></country></list><tree><noCountry><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K. S." last="Hsu">K. S. Hsu</name><name sortKey="Karkoub, M" sort="Karkoub, M" uniqKey="Karkoub M" first="M." last="Karkoub">M. Karkoub</name><name sortKey="Lan, T S" sort="Lan, T S" uniqKey="Lan T" first="T. S." last="Lan">T. S. Lan</name></noCountry><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></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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