[go: up one dir, main page]

Gonzalez et al., 2015 - Google Patents

Smooth transition-based control of encounter-type haptic devices

Gonzalez et al., 2015

View HTML
Document ID
110753114910934091
Author
Gonzalez F
Bachta W
Gosselin F
Publication year
Publication venue
2015 IEEE International Conference on Robotics and Automation (ICRA)

External Links

Snippet

Encounter-type devices have been introduced to solve one of the main drawbacks of common haptic interfaces ie their limited transparency in free space and their restricted ability to render realistic transitions between free space and contact. Advantageously …
Continue reading at www.academia.edu (HTML) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

Similar Documents

Publication Publication Date Title
US20130096719A1 (en) Method for dynamic optimization of a robot control interface
Bhatia et al. Direct drive hands: Force-motion transparency in gripper design
CN107717981A (en) control device of mechanical arm and teaching system and method thereof
US20180236659A1 (en) Compositional impedance programming for robots
CN107728778B (en) A servo-based active tactile feedback system and its working method
US5982353A (en) Virtual body modeling apparatus having dual-mode motion processing
Willaert et al. Towards multi-DOF model mediated teleoperation: Using vision to augment feedback
Jacinto-Villegas et al. A novel wearable haptic controller for teleoperating robotic platforms
Gonzalez et al. Smooth transition-based control of encounter-type haptic devices
Liang et al. An Augmented Discrete‐Time Approach for Human‐Robot Collaboration
Wallhoff et al. A skill-based approach towards hybrid assembly
CN115502979A (en) Active flexible and accurate control method and system for moment of mechanical arm
WO2011140704A1 (en) Apparatus, method, program and recording medium for robot offline teaching
Kuan et al. VR-based teleoperation for robot compliance control
CN105334964A (en) Force feedback man-machine interactive system and method on basis of electromagnetic theory
JP2008217260A (en) Force display device
Liu et al. A modified motion mapping method for haptic device based space teleoperation
Selvaggio et al. Towards a self-collision aware teleoperation framework for compound robots
Mousavi Mohammadi et al. A real-time impedance-based singularity and joint-limits avoidance approach for manual guidance of industrial robots
Kuan et al. Challenges in VR-based robot teleoperation
Poitrimol et al. Haptic interface for virtual reality based on hybrid Cable-Driven parallel robot
Kheddar et al. The hidden robot concept-high level abstraction teleoperation
Gonzalez1234 et al. Smooth Transition-Based Control of Encounter-Type Haptic Devices
Wrock et al. An automatic switching approach to teleoperation of mobile-manipulator systems using virtual fixtures
Ciobanu et al. Tactile controller using fuzzy logic for robot inhand manipulation