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引用次数: 1
摘要
Maxima Haptics Package是一个免费的软件包，用于对触觉设备和远程操作器的线性模型进行符号分析。从触觉装置的力学模型、从机器人和控制器的公式出发，该软件包计算出整个系统的众所周知的“混合矩阵”表示。从获得的混合矩阵中，可以计算出线性性能指标和外部器件特性，例如力带宽和自由空气惯性。该软件包为触觉社区提供了一种通用语言，用于交流符号模型，以及增强理解和学习的工具。Maxima Haptics套件在2005年世界触觉大会期间首次向公众发布。
The Maxima Haptics Package - a tool for symbolic analysis of haptics and teleoperation
The Maxima Haptics Package is a free software package for symbolic analysis of linear models of haptic devices and teleoperators. From a mechanical model of the haptic device, the slave robot and a formulation of the controller, the package calculates the well known "hybrid matrix" representation of the whole system. From the acquired hybrid matrix, the linear performance measures and external device characteristics can be calculated, e.g. force bandwidth and free air inertia. The package provides a common language for the haptic community for exchange of symbolic models, and tools to enhance understanding and learning. The Maxima Haptics Package is released to the public for the first time ever during the WorldHaptics Conference 2005.
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