The Dynamics, Control and Stability of a Haptic Device
| Autor: | Cheng Chao-Hsiang, 鄭兆翔 |
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| Rok vydání: | 1998 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 86 Because of the needs of the industrial field, there are jobs that are either highly dangerous, complicated, or limited by human strength. These need to be handled with the judgement of a sentient operator. This means they need to combine human judgement with robotic manipulation through some kind of interface device. These kind of devices, controlled by human arm, are calledhaptic devices. Because the movement of human arm is nonlinear and varies with time, controlling the stabilization of these devices is a challenge. The key point of this article is to discuss various models of haptic interface device, taking virtual reality as an example for discussion of the control architecture, performance and stability of such systems.These devices are necessary elements of virtual reality. They can give a human arm the sensation of force associated with various arbitrary maneuvers. For example, these devices can give a humanthe sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependent force. The article takes a haptic device (X-Y Table) of two-degrees-of-freedom to illustrate and verify the analysis of these devices.From the results of experiments, according to the model's system, in stable conditions the operator can really feel the sensation of the existence of a virtual environment. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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