耗散被动触觉显示器的路径跟踪控制

11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. Pub Date : 2003-03-22 DOI:10.1109/HAPTIC.2003.1191245

D. K. Swanson, W. Book

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引用次数: 41

摘要

本文解决了用耗散被动触觉显示器跟踪任意路径的问题。这种显示器具有能量被动致动器;所有的动力能量最初必须来自人类操作员，然后显示器通常会消散，重新定向和/或存储能量。由于被动的限制，传统的触觉控制技术不适用。提出了解决这一问题的三个控制概念。给出了这些控制器在附加耦合元件的2自由度耗散触觉试验台上的仿真和实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Path-following control for dissipative passive haptic displays

This paper addresses the problem of following an arbitrary path with a dissipative passive haptic display. Such a display has energetically passive actuators; all motive energy must come initially from the human operator and the display may then in general dissipate, redirect, and/or store the energy. Due to the passive restriction conventional haptic control techniques are not applicable. Three control concepts addressing this problem are presented. Simulated and experimental results are provided for these controllers as implemented on a 2 DOF dissipative haptic testbed with additional coupling elements.

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来源期刊

11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.

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