Knowledge Commons of Institute of Automation,CAS
Development and Evaluation of a 7-DOF Haptic Interface | |
Jianlong,Hao; Xiaoliang,Xie; Guibin,Bian; Zengguang,Hou; Xiaohu,Zhou | |
发表期刊 | IEEE/CAA JOURNAL OF AUTOMATICA SINICA |
2018-02 | |
卷号 | 5期号:1页码:261-269 |
摘要 | With the development of human robot interaction technologies, haptic interfaces are widely used for 3D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a 7-DOF (degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface. |
关键词 | Dynamic modeling evaluation haptic interface impedance control |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/41472 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Zengguang,Hou |
作者单位 | the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Jianlong,Hao,Xiaoliang,Xie,Guibin,Bian,et al. Development and Evaluation of a 7-DOF Haptic Interface[J]. IEEE/CAA JOURNAL OF AUTOMATICA SINICA,2018,5(1):261-269. |
APA | Jianlong,Hao,Xiaoliang,Xie,Guibin,Bian,Zengguang,Hou,&Xiaohu,Zhou.(2018).Development and Evaluation of a 7-DOF Haptic Interface.IEEE/CAA JOURNAL OF AUTOMATICA SINICA,5(1),261-269. |
MLA | Jianlong,Hao,et al."Development and Evaluation of a 7-DOF Haptic Interface".IEEE/CAA JOURNAL OF AUTOMATICA SINICA 5.1(2018):261-269. |
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Development and Eval(3695KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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