HapticV1, PascalFrancis, Corpus, bibRecord, 000D37

A high performance 6-DOF haptic cobot

Identifieur interne : 000D37 ( PascalFrancis/Corpus ); précédent : 000D36; suivant : 000D38

A high performance 6-DOF haptic cobot

Auteurs : Eric L. Faulring ; J. Edward Colgate ; Michael A. Peshkin

Source :

RBID : Pascal:06-0270017

Descripteurs français

Pascal (Inist)
- Système non holonome, Sensibilité tactile, Transmission continuement variable, Etat surface, Moteur linéaire, Cinématique.

English descriptors

KwdEn :
- Continuously variable drive, Kinematics, Linear motor, Non holonomic system, Surface conditions, Tactile sensitivity.

Abstract

A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 A high performance 6-DOF haptic cobot`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 FAULRING (Eric L.)`
A11	`02`	`1`		`@1 COLGATE (J. Edward)`
A11	`03`	`1`		`@1 PESHKIN (Michael A.)`
A14	`01`			`@1 Department of Mechanical Engineering Northwestern University @2 Evanston, IL 60208 @3 USA @Z 1 aut. @Z 2 aut. @Z 3 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 1980-1985`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471323200`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 18 ref.`
A47	`01`	`1`		`@0 06-0270017`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.
C02	`01`	`X`		`@0 001D02D`
C03	`01`	`X`	`FRE`	`@0 Système non holonome @5 06`
C03	`01`	`X`	`ENG`	`@0 Non holonomic system @5 06`
C03	`01`	`X`	`SPA`	`@0 Sistema no holónomo @5 06`
C03	`02`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`02`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`02`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`03`	`X`	`FRE`	`@0 Transmission continuement variable @5 19`
C03	`03`	`X`	`ENG`	`@0 Continuously variable drive @5 19`
C03	`03`	`X`	`SPA`	`@0 Transmisión continuamente variable @5 19`
C03	`04`	`X`	`FRE`	`@0 Etat surface @5 20`
C03	`04`	`X`	`ENG`	`@0 Surface conditions @5 20`
C03	`04`	`X`	`SPA`	`@0 Estado superficie @5 20`
C03	`05`	`X`	`FRE`	`@0 Moteur linéaire @5 21`
C03	`05`	`X`	`ENG`	`@0 Linear motor @5 21`
C03	`05`	`X`	`SPA`	`@0 Motor lineal @5 21`
C03	`06`	`X`	`FRE`	`@0 Cinématique @5 28`
C03	`06`	`X`	`ENG`	`@0 Kinematics @5 28`
C03	`06`	`X`	`SPA`	`@0 Cinemática @5 28`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270017 INIST
ET :	A high performance 6-DOF haptic cobot
AU :	FAULRING (Eric L.); COLGATE (J. Edward); PESHKIN (Michael A.)
AF :	Department of Mechanical Engineering Northwestern University/Evanston, IL 60208/Etats-Unis (1 aut., 2 aut., 3 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 1980-1985; ISBN 0-7803-8232-3
LA :	Anglais
EA :	A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.
CC :	001D02D
FD :	Système non holonome; Sensibilité tactile; Transmission continuement variable; Etat surface; Moteur linéaire; Cinématique
ED :	Non holonomic system; Tactile sensitivity; Continuously variable drive; Surface conditions; Linear motor; Kinematics
SD :	Sistema no holónomo; Sensibilidad tactil; Transmisión continuamente variable; Estado superficie; Motor lineal; Cinemática
LO :	INIST-Y 38842.354000153471323200
ID :	06-0270017

Links to Exploration step

Pascal:06-0270017

Le document en format XML

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<front><div type="abstract" xml:lang="en">A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.</div>
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<fC01 i1="01" l="ENG"><s0>A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.</s0>
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<server><NO>PASCAL 06-0270017 INIST</NO>
<ET>A high performance 6-DOF haptic cobot</ET>
<AU>FAULRING (Eric L.); COLGATE (J. Edward); PESHKIN (Michael A.)</AU>
<AF>Department of Mechanical Engineering Northwestern University/Evanston, IL 60208/Etats-Unis (1 aut., 2 aut., 3 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 1980-1985; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.</EA>
<CC>001D02D</CC>
<FD>Système non holonome; Sensibilité tactile; Transmission continuement variable; Etat surface; Moteur linéaire; Cinématique</FD>
<ED>Non holonomic system; Tactile sensitivity; Continuously variable drive; Surface conditions; Linear motor; Kinematics</ED>
<SD>Sistema no holónomo; Sensibilidad tactil; Transmisión continuamente variable; Estado superficie; Motor lineal; Cinemática</SD>
<LO>INIST-Y 38842.354000153471323200</LO>
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Serveur d'exploration sur les dispositifs haptiques

A high performance 6-DOF haptic cobot

A high performance 6-DOF haptic cobot

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)

Pour mettre un lien sur cette page dans le réseau Wicri