Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission
Identifieur interne : 000D42 ( PascalFrancis/Corpus ); précédent : 000D41; suivant : 000D43Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission
Auteurs : G. Ganesh ; R. Gassert ; E. Burdet ; H. BleulerSource :
Descripteurs français
- Pascal (Inist)
- Commande non linéaire, Robotique, Commande position, Commande force, Commande mouvement, Homme, Système dynamique, Imagerie RMN, Relation maître esclave, Transmission hydraulique, Hydrostatique, Largeur bande, Interface utilisateur, Sensibilité tactile, Mouvement corporel, Système nerveux central, Cerveau, Modèle non linéaire, Filtre passe bas, Modélisation, Problème raide, Encéphale, Commande dynamique.
English descriptors
- KwdEn :
- Bandwidth, Body movement, Brain, Central nervous system, Dynamical system, Encephalon, Force control, Human, Hydraulic drive, Hydrostatics, Low pass filter, Master slave relationship, Modeling, Motion control, Non linear control, Non linear model, Nuclear magnetic resonance imaging, Position control, Robotics, Stiff problem, Tactile sensitivity, User interface, dynamic control.
Abstract
We analyze the dynamics of an MR-compatible hydrostatic transmission designed to transfer power over distances of up to 10 m. In this system, a master actuates a passive slave connected by two hydrostatic lines in a cyclic arrangement. We derive a nonlinear model of this system and use it to analyze the system's behavior and the design parameters. The transmission acts as a low-pass filter with cut-off frequency decreasing for longer hoses. Even for a length of 10 m the cut-off frequency is about 20 Hz, resulting in a bandwidth that suffices for haptic interfaces interacting with human motion as well as for medical robots. A pragmatic control delivered free movements, position and velocity dependent force fields and trajectory control suitable to investigate how the brain controls movements in interaction with the environment. For short hose lengths (≤1m) the dynamics can be well approximated by a linear model, and the system is dynamic and stiff. The hydraulic transmission can produce force and motion in any orientation, enabling a more flexible design than other types of transmissions such as by cables.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
| NO : | PASCAL 06-0269905 INIST |
|---|---|
| ET : | Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission |
| AU : | GANESH (G.); GASSERT (R.); BURDET (E.); BLEULER (H.) |
| AF : | Dept of Mechanical Engineering, National University of Singapore/Singapour (1 aut., 3 aut.); Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)/Suisse (2 aut., 4 aut.); Division of Bioengineering, National University of Singapore/Singapour (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. 1288-1294; ISBN 0-7803-8232-3 |
| LA : | Anglais |
| EA : | We analyze the dynamics of an MR-compatible hydrostatic transmission designed to transfer power over distances of up to 10 m. In this system, a master actuates a passive slave connected by two hydrostatic lines in a cyclic arrangement. We derive a nonlinear model of this system and use it to analyze the system's behavior and the design parameters. The transmission acts as a low-pass filter with cut-off frequency decreasing for longer hoses. Even for a length of 10 m the cut-off frequency is about 20 Hz, resulting in a bandwidth that suffices for haptic interfaces interacting with human motion as well as for medical robots. A pragmatic control delivered free movements, position and velocity dependent force fields and trajectory control suitable to investigate how the brain controls movements in interaction with the environment. For short hose lengths (≤1m) the dynamics can be well approximated by a linear model, and the system is dynamic and stiff. The hydraulic transmission can produce force and motion in any orientation, enabling a more flexible design than other types of transmissions such as by cables. |
| CC : | 001D02D11; 001D02B04 |
| FD : | Commande non linéaire; Robotique; Commande position; Commande force; Commande mouvement; Homme; Système dynamique; Imagerie RMN; Relation maître esclave; Transmission hydraulique; Hydrostatique; Largeur bande; Interface utilisateur; Sensibilité tactile; Mouvement corporel; Système nerveux central; Cerveau; Modèle non linéaire; Filtre passe bas; Modélisation; Problème raide; Encéphale; Commande dynamique |
| ED : | Non linear control; Robotics; Position control; Force control; Motion control; Human; Dynamical system; Nuclear magnetic resonance imaging; Master slave relationship; Hydraulic drive; Hydrostatics; Bandwidth; User interface; Tactile sensitivity; Body movement; Central nervous system; Brain; Non linear model; Low pass filter; Modeling; Stiff problem; Encephalon; dynamic control |
| SD : | Control no lineal; Robótica; Regulación de la posición; Control fuerza; Control movimiento; Hombre; Sistema dinámico; Imaginería RMN; Relación maestro esclavo; Transmisión hidraúlica; Hidrostática; Anchura banda; Interfase usuario; Sensibilidad tactil; Movimiento corporal; Sistema nervioso central; Cerebro; Modelo no lineal; Filtro paso bajo; Modelización; Problema rígido; Encéfalo; Comando dinámico |
| LO : | INIST-Y 38842.354000153471322080 |
| ID : | 06-0269905 |
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Pascal:06-0269905Le document en format XML
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Bleuler</name><affiliation><inist:fA14 i1="02"><s1>Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)</s1><s3>CHE</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">06-0269905</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 06-0269905 INIST</idno><idno type="RBID">Pascal:06-0269905</idno><idno type="wicri:Area/PascalFrancis/Corpus">000D42</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission</title><author><name sortKey="Ganesh, G" sort="Ganesh, G" uniqKey="Ganesh G" first="G." last="Ganesh">G. Ganesh</name><affiliation><inist:fA14 i1="01"><s1>Dept of Mechanical Engineering, National University of Singapore</s1><s3>SGP</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Gassert, R" sort="Gassert, R" uniqKey="Gassert R" first="R." last="Gassert">R. Gassert</name><affiliation><inist:fA14 i1="02"><s1>Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)</s1><s3>CHE</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Burdet, E" sort="Burdet, E" uniqKey="Burdet E" first="E." last="Burdet">E. Burdet</name><affiliation><inist:fA14 i1="01"><s1>Dept of Mechanical Engineering, National University of Singapore</s1><s3>SGP</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></inist:fA14></affiliation><affiliation><inist:fA14 i1="03"><s1>Division of Bioengineering, National University of Singapore</s1><s3>SGP</s3><sZ>3 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Bleuler, H" sort="Bleuler, H" uniqKey="Bleuler H" first="H." last="Bleuler">H. Bleuler</name><affiliation><inist:fA14 i1="02"><s1>Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)</s1><s3>CHE</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></inist:fA14></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Bandwidth</term><term>Body movement</term><term>Brain</term><term>Central nervous system</term><term>Dynamical system</term><term>Encephalon</term><term>Force control</term><term>Human</term><term>Hydraulic drive</term><term>Hydrostatics</term><term>Low pass filter</term><term>Master slave relationship</term><term>Modeling</term><term>Motion control</term><term>Non linear control</term><term>Non linear model</term><term>Nuclear magnetic resonance imaging</term><term>Position control</term><term>Robotics</term><term>Stiff problem</term><term>Tactile sensitivity</term><term>User interface</term><term>dynamic control</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Commande non linéaire</term><term>Robotique</term><term>Commande position</term><term>Commande force</term><term>Commande mouvement</term><term>Homme</term><term>Système dynamique</term><term>Imagerie RMN</term><term>Relation maître esclave</term><term>Transmission hydraulique</term><term>Hydrostatique</term><term>Largeur bande</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Mouvement corporel</term><term>Système nerveux central</term><term>Cerveau</term><term>Modèle non linéaire</term><term>Filtre passe bas</term><term>Modélisation</term><term>Problème raide</term><term>Encéphale</term><term>Commande dynamique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">We analyze the dynamics of an MR-compatible hydrostatic transmission designed to transfer power over distances of up to 10 m. In this system, a master actuates a passive slave connected by two hydrostatic lines in a cyclic arrangement. We derive a nonlinear model of this system and use it to analyze the system's behavior and the design parameters. The transmission acts as a low-pass filter with cut-off frequency decreasing for longer hoses. Even for a length of 10 m the cut-off frequency is about 20 Hz, resulting in a bandwidth that suffices for haptic interfaces interacting with human motion as well as for medical robots. A pragmatic control delivered free movements, position and velocity dependent force fields and trajectory control suitable to investigate how the brain controls movements in interaction with the environment. For short hose lengths (≤1m) the dynamics can be well approximated by a linear model, and the system is dynamic and stiff. The hydraulic transmission can produce force and motion in any orientation, enabling a more flexible design than other types of transmissions such as by cables.</div></front></TEI><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings</s1></fA09><fA11 i1="01" i2="1"><s1>GANESH (G.)</s1></fA11><fA11 i1="02" i2="1"><s1>GASSERT (R.)</s1></fA11><fA11 i1="03" i2="1"><s1>BURDET (E.)</s1></fA11><fA11 i1="04" i2="1"><s1>BLEULER (H.)</s1></fA11><fA14 i1="01"><s1>Dept of Mechanical Engineering, National University of Singapore</s1><s3>SGP</s3><sZ>1 aut.</sZ><sZ>3 aut.</sZ></fA14><fA14 i1="02"><s1>Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)</s1><s3>CHE</s3><sZ>2 aut.</sZ><sZ>4 aut.</sZ></fA14><fA14 i1="03"><s1>Division of Bioengineering, National University of Singapore</s1><s3>SGP</s3><sZ>3 aut.</sZ></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and automation society</s1><s3>USA</s3><s9>org-cong.</s9></fA18><fA20><s1>1288-1294</s1></fA20><fA21><s1>2004</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-8232-3</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IEEE International Conference on Robotics and Automation</s1><s2>21</s2><s3>New Orleans LA USA</s3><s4>2004</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 38842</s2><s5>354000153471322080</s5></fA43><fA44><s0>0000</s0><s1>© 2006 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>17 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>06-0269905</s0></fA47><fA60><s1>C</s1></fA60><fA61><s0>A</s0></fA61><fA66 i1="01"><s0>USA</s0></fA66><fC01 i1="01" l="ENG"><s0>We analyze the dynamics of an MR-compatible hydrostatic transmission designed to transfer power over distances of up to 10 m. In this system, a master actuates a passive slave connected by two hydrostatic lines in a cyclic arrangement. We derive a nonlinear model of this system and use it to analyze the system's behavior and the design parameters. The transmission acts as a low-pass filter with cut-off frequency decreasing for longer hoses. Even for a length of 10 m the cut-off frequency is about 20 Hz, resulting in a bandwidth that suffices for haptic interfaces interacting with human motion as well as for medical robots. A pragmatic control delivered free movements, position and velocity dependent force fields and trajectory control suitable to investigate how the brain controls movements in interaction with the environment. For short hose lengths (≤1m) the dynamics can be well approximated by a linear model, and the system is dynamic and stiff. The hydraulic transmission can produce force and motion in any orientation, enabling a more flexible design than other types of transmissions such as by cables.</s0></fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0></fC02><fC02 i1="02" i2="X"><s0>001D02B04</s0></fC02><fC03 i1="01" i2="X" l="FRE"><s0>Commande non linéaire</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="ENG"><s0>Non linear control</s0><s5>06</s5></fC03><fC03 i1="01" i2="X" l="SPA"><s0>Control no lineal</s0><s5>06</s5></fC03><fC03 i1="02" i2="X" l="FRE"><s0>Robotique</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="ENG"><s0>Robotics</s0><s5>07</s5></fC03><fC03 i1="02" i2="X" l="SPA"><s0>Robótica</s0><s5>07</s5></fC03><fC03 i1="03" i2="X" l="FRE"><s0>Commande position</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="ENG"><s0>Position control</s0><s5>08</s5></fC03><fC03 i1="03" i2="X" l="SPA"><s0>Regulación de la posición</s0><s5>08</s5></fC03><fC03 i1="04" i2="X" l="FRE"><s0>Commande force</s0><s5>09</s5></fC03><fC03 i1="04" i2="X" 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l="SPA"><s0>Encéfalo</s0><s5>41</s5></fC03><fC03 i1="23" i2="X" l="FRE"><s0>Commande dynamique</s0><s4>CD</s4><s5>96</s5></fC03><fC03 i1="23" i2="X" l="ENG"><s0>dynamic control</s0><s4>CD</s4><s5>96</s5></fC03><fC03 i1="23" i2="X" l="SPA"><s0>Comando dinámico</s0><s4>CD</s4><s5>96</s5></fC03><fN21><s1>170</s1></fN21><fN44 i1="01"><s1>OTO</s1></fN44><fN82><s1>OTO</s1></fN82></pA></standard><server><NO>PASCAL 06-0269905 INIST</NO><ET>Dynamics and control of an MRI compatible master-slave system with hydrostatic transmission</ET><AU>GANESH (G.); GASSERT (R.); BURDET (E.); BLEULER (H.)</AU><AF>Dept of Mechanical Engineering, National University of Singapore/Singapour (1 aut., 3 aut.); Laboratory of Robotic Systems, Swiss Federal Institute of Technology, Lausanne (EPFL)/Suisse (2 aut., 4 aut.); Division of Bioengineering, National University of Singapore/Singapour (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. 1288-1294; ISBN 0-7803-8232-3</SO><LA>Anglais</LA><EA>We analyze the dynamics of an MR-compatible hydrostatic transmission designed to transfer power over distances of up to 10 m. In this system, a master actuates a passive slave connected by two hydrostatic lines in a cyclic arrangement. We derive a nonlinear model of this system and use it to analyze the system's behavior and the design parameters. The transmission acts as a low-pass filter with cut-off frequency decreasing for longer hoses. Even for a length of 10 m the cut-off frequency is about 20 Hz, resulting in a bandwidth that suffices for haptic interfaces interacting with human motion as well as for medical robots. A pragmatic control delivered free movements, position and velocity dependent force fields and trajectory control suitable to investigate how the brain controls movements in interaction with the environment. For short hose lengths (≤1m) the dynamics can be well approximated by a linear model, and the system is dynamic and stiff. The hydraulic transmission can produce force and motion in any orientation, enabling a more flexible design than other types of transmissions such as by cables.</EA><CC>001D02D11; 001D02B04</CC><FD>Commande non linéaire; Robotique; Commande position; Commande force; Commande mouvement; Homme; Système dynamique; Imagerie RMN; Relation maître esclave; Transmission hydraulique; Hydrostatique; Largeur bande; Interface utilisateur; Sensibilité tactile; Mouvement corporel; Système nerveux central; Cerveau; Modèle non linéaire; Filtre passe bas; Modélisation; Problème raide; Encéphale; Commande dynamique</FD><ED>Non linear control; Robotics; Position control; Force control; Motion control; Human; Dynamical system; Nuclear magnetic resonance imaging; Master slave relationship; Hydraulic drive; Hydrostatics; Bandwidth; User interface; Tactile sensitivity; Body movement; Central nervous system; Brain; Non linear model; Low pass filter; Modeling; Stiff problem; Encephalon; dynamic control</ED><SD>Control no lineal; Robótica; Regulación de la posición; Control fuerza; Control movimiento; Hombre; Sistema dinámico; Imaginería RMN; Relación maestro esclavo; Transmisión hidraúlica; Hidrostática; Anchura banda; Interfase usuario; Sensibilidad tactil; Movimiento corporal; Sistema nervioso central; Cerebro; Modelo no lineal; Filtro paso bajo; Modelización; Problema rígido; Encéfalo; Comando dinámico</SD><LO>INIST-Y 38842.354000153471322080</LO><ID>06-0269905</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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