The Design and Application of Visual Forces Guided Haptic Device

被引：0
|
作者：
Ni, T. [1 ]
Zheng, H. F. [1 ]
Feng, Y. L. [1 ]
Zhao, K. M. [1 ]
Li, Q. D. [1 ]
Xu, X. L. [2 ]
机构：
[1] Jilin Univ, Sch Mech Sci & Engn, Renmin St 5988, Changchun 130023, Peoples R China
[2] FAW Jiefang Automot Co Ltd, Truck Div, Changchun, Peoples R China
来源：
2015 3RD ASIAN PACIFIC CONFERENCE ON MECHATRONICS AND CONTROL EINGINEERING (APCMCE 2015) | 2015年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to improve operational performance and working safety in robot teleoperation, this paper introduces a 6 DOF haptic device and presents the visual force guidance based shared control strategy into manipulation system. Mechanical structure of haptic device is designed to achieve dimensional motion and map the position into slave robot. Forward kinematics analyzes the workspace and optimizes the structure parameters. Inverse kinematics solves dynamic mapping problems from end-effector to actuation joints in manipulation. Based on the constructed visual forces and human manipulation forces, visual force guidance shared control predicts the position for haptic device and maps position into slave robot. Interactional experiment between haptic device and operator validates the effectiveness of mechanism and control strategy for visual force guidance based haptic device control system.
引用
收藏
页码：169 / 174
页数：6
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