This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into considerati...This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cable as transmission component and mass balance to eliminate the gravity effect. The dynamics of haptic interface including actuating device is studied. In order to provide operator with fidelity kinesthetic information, a force controller using self-learning fuzzy logic control is designed. The simulation results verify the effectiveness of the control method.展开更多
This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface ...This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.展开更多
文摘This paper presents a 3 D.O.F haptic interface which is designed to meet the interaction requirement of teleoperation tasks and virtual reality applications. The mechanism design takes the operability into consideration such as adopting steel cable as transmission component and mass balance to eliminate the gravity effect. The dynamics of haptic interface including actuating device is studied. In order to provide operator with fidelity kinesthetic information, a force controller using self-learning fuzzy logic control is designed. The simulation results verify the effectiveness of the control method.
文摘This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.
