HapticV1, PascalFrancis, Curation, bibRecord, 000296

Haptic direct-drive robot control scheme in virtual reality

Identifieur interne : 000296 ( PascalFrancis/Curation ); précédent : 000295; suivant : 000297

Haptic direct-drive robot control scheme in virtual reality

Auteurs : M. G. Her [Taïwan] ; K. S. Hsu ; T. S. Lan ; M. Karkoub

Source :

Journal of Intelligent and Robotic Systems: Theory and Applications [ 0921-0296 ] ; 2002.

RBID : Pascal:03-0044584

Descripteurs français

Pascal (Inist)
- Théorie, Robot intelligent, Interface haptique, Réalité virtuelle, Modèle 2 dimensions, Manipulateur, Synthèse système commande, Relation homme machine, Commande force, Commande contre réaction, Stabilité système, Théorie contrainte, Contrôle intelligent, Expérience.
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.

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A05				`@2 35`
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A08	`01`	`1`	`ENG`	`@1 Haptic direct-drive robot control scheme in virtual reality`
A11	`01`	`1`		`@1 HER (M. G.)`
A11	`02`	`1`		`@1 HSU (K. S.)`
A11	`03`	`1`		`@1 LAN (T. S.)`
A11	`04`	`1`		`@1 KARKOUB (M.)`
A14	`01`			`@1 Department of Mechanical Engineering Tatung University @2 Taipei, 10451 @3 TWN @Z 1 aut.`
A20				`@1 247-264`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 21882`
A44				`@0 A100`
A45				`@0 22 Refs.`
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A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Journal of Intelligent and Robotic Systems: Theory and Applications`
A66	`01`			`@0 NLD`
C01	`01`		`ENG`	@0 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.
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C03	`01`	`1`	`ENG`	`@0 Haptic robot control @4 INC`
C03	`02`	`1`	`ENG`	`@0 Direct drive robot control @4 INC`
C03	`03`	`1`	`ENG`	`@0 Two dimensional manipulator @4 INC`
C03	`04`	`1`	`ENG`	`@0 Direct drive arm manipulator @4 INC`
C03	`05`	`1`	`ENG`	`@0 Human arm dynamics @4 INC`
C03	`06`	`1`	`ENG`	`@0 Robot effector handler @4 INC`
C03	`07`	`1`	`ENG`	`@0 Nyquist stability criterion @4 INC`
C03	`08`	`1`	`FRE`	`@0 Théorie`
C03	`08`	`1`	`ENG`	`@0 Theory`
C03	`09`	`1`	`FRE`	`@0 Robot intelligent`
C03	`09`	`1`	`ENG`	`@0 Intelligent robots`
C03	`10`	`1`	`FRE`	`@0 Interface haptique`
C03	`10`	`1`	`ENG`	`@0 Haptic interfaces`
C03	`11`	`1`	`FRE`	`@0 Réalité virtuelle`
C03	`11`	`1`	`ENG`	`@0 Virtual reality`
C03	`12`	`1`	`FRE`	`@0 Modèle 2 dimensions`
C03	`12`	`1`	`ENG`	`@0 Two dimensional`
C03	`13`	`1`	`FRE`	`@0 Manipulateur`
C03	`13`	`1`	`ENG`	`@0 Manipulators`
C03	`14`	`1`	`FRE`	`@0 Synthèse système commande`
C03	`14`	`1`	`ENG`	`@0 Control system synthesis`
C03	`15`	`1`	`FRE`	`@0 Relation homme machine`
C03	`15`	`1`	`ENG`	`@0 Human computer interaction`
C03	`16`	`1`	`FRE`	`@0 Commande force`
C03	`16`	`1`	`ENG`	`@0 Force control`
C03	`17`	`1`	`FRE`	`@0 Commande contre réaction`
C03	`17`	`1`	`ENG`	`@0 Feedback control`
C03	`18`	`1`	`FRE`	`@0 Stabilité système`
C03	`18`	`1`	`ENG`	`@0 System stability`
C03	`19`	`1`	`FRE`	`@0 Théorie contrainte`
C03	`19`	`1`	`ENG`	`@0 Constraint theory`
C03	`20`	`1`	`FRE`	`@0 Contrôle intelligent @3 P`
C03	`20`	`1`	`ENG`	`@0 Intelligent control @3 P`
C03	`21`	`1`	`FRE`	`@0 Expérience`
C03	`21`	`1`	`ENG`	`@0 Experiments`
N21				`@1 027`

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Pascal:03-0044584

Le document en format XML

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Haptic direct-drive robot control scheme in virtual reality

Haptic direct-drive robot control scheme in virtual reality

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Descripteurs français

English descriptors

Abstract

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