Use of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/745
Tipus de documentReport de recerca
Data publicació2007-01
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
Haptic devices allow the user to feel the reaction forces and torques that arise when the virtual object attached to the user-manipulated probe touches the other objects in the virtual environment. Additionally, the user may feel some guiding constrains and forces that aid him in the completion of a virtual task. Also haptic devices are used as master devices in teleoperation tasks and may include force reflection from the real forces sense by a force sensor located at the robot wrist. Both operation modes can be combined to set up an assisted teleoperation system able to execute assembly tasks. This paper proposes the use of path planning techniques based on harmonic functions to generate a guiding force that aids the user during the teleoperation
Forma partIOC-DT-P; 2007-2
Fitxers | Descripció | Mida | Format | Visualitza |
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IOC-DT-P-2007-02.pdf | 518,8Kb | Visualitza/Obre |