Design and analysis of a 2-D haptic interface device in virtual reality
Identifieur interne : 007405 ( Main/Exploration ); précédent : 007404; suivant : 007406Design and analysis of a 2-D haptic interface device in virtual reality
Auteurs : M. G. Her [Taïwan] ; M. Karkoub ; K. S. HsuSource :
- International Journal of Computer Applications in Technology [ 0952-8091 ] ; 2002.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle, Robotique.
English descriptors
- KwdEn :
Abstract
Analysis and design of a telerobotics device with a haptic interface, based on the virtual reality (VR) approach for simulating the cutting clay system, is proposed. The force feedback device is built using an x-y table and a multi-degree-of-freedom joystick and an equivalent computer model is computed. A virtual reality model for cutting oil clay using a haptic interface device is subsequently obtained. The VR model for the cutting tool system and the environment is simulated by the virtual haptic model that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. A control law for the virtual reality closed-loop model is derived. The stability and performance of the system are studied. Experiments on cutting virtual oil 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 and load disturbances.
Affiliations:
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Le document en format XML
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Hsu</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">02-0042551</idno><date when="2002">2002</date><idno type="stanalyst">PASCAL 02-0042551 EI</idno><idno type="RBID">Pascal:02-0042551</idno><idno type="wicri:Area/PascalFrancis/Corpus">001323</idno><idno type="wicri:Area/PascalFrancis/Curation">000189</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001016</idno><idno type="wicri:doubleKey">0952-8091:2002:Her M:design:and:analysis</idno><idno type="wicri:Area/Main/Merge">007956</idno><idno type="wicri:Area/Main/Curation">007405</idno><idno type="wicri:Area/Main/Exploration">007405</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Design and analysis of a 2-D haptic interface device 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="Karkoub, M" sort="Karkoub, M" uniqKey="Karkoub M" first="M." last="Karkoub">M. Karkoub</name></author><author><name sortKey="Hsu, K S" sort="Hsu, K S" uniqKey="Hsu K" first="K. S." last="Hsu">K. S. Hsu</name></author></analytic><series><title level="j" type="main">International Journal of Computer Applications in Technology</title><title level="j" type="abbreviated">Int J Comput Appl Technol</title><idno type="ISSN">0952-8091</idno><imprint><date when="2002">2002</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">International Journal of Computer Applications in Technology</title><title level="j" type="abbreviated">Int J Comput Appl Technol</title><idno type="ISSN">0952-8091</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Computer simulation</term><term>Cutting clay systems</term><term>Feedback</term><term>Haptic interfaces</term><term>Robotics</term><term>Theory</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term><term>Réalité virtuelle</term><term>Boucle réaction</term><term>Robotique</term><term>Simulation ordinateur</term><term>Interface haptique</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Analysis and design of a telerobotics device with a haptic interface, based on the virtual reality (VR) approach for simulating the cutting clay system, is proposed. The force feedback device is built using an x-y table and a multi-degree-of-freedom joystick and an equivalent computer model is computed. A virtual reality model for cutting oil clay using a haptic interface device is subsequently obtained. The VR model for the cutting tool system and the environment is simulated by the virtual haptic model that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. A control law for the virtual reality closed-loop model is derived. The stability and performance of the system are studied. Experiments on cutting virtual oil 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 and load disturbances.</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></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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