Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Autor: Juan Manuel Ibarra-Zannatha, Claudia Marmolejo-Rivas, Manuel Ferre-Pérez, Rafael Aracil-Santonja, Salvador Cobos-Guzmán
Jazyk: angličtina
Rok vydání: 2007
Předmět:
Zdroj: Applied Bionics and Biomechanics, Vol 4, Iss 4, Pp 157-168 (2007)
Druh dokumentu: article
ISSN: 1176-2322
1754-2103
DOI: 10.1080/11762320701848746
Popis: The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.
Databáze: Directory of Open Access Journals
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