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dc.contributor.authorVázquez Hurtado, Carlos
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2007-04-16T10:19:06Z
dc.date.available2007-04-16T10:19:06Z
dc.date.issued2007-01
dc.identifier.urihttp://hdl.handle.net/2117/745
dc.description.abstractHaptic 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
dc.format.extent13
dc.language.isoeng
dc.relation.ispartofseriesIOC-DT-P
dc.relation.ispartofseries2007-2
dc.rightsAttribution-NonCommercial-NoDerivs 2.5 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobot hands
dc.subject.lcshHarmonic functions
dc.subject.otherDispositius tàctils
dc.subject.otherTeleoperació
dc.subject.otherTasques de muntatge
dc.subject.otherFuncions harmòniques
dc.subject.otherPlanificació de camins
dc.subject.otherHaptic devices
dc.subject.otherTeleoperation
dc.subject.otherAssembly tasks
dc.subject.otherHarmonic functions
dc.subject.otherPath planning
dc.subject.otherDispositivos táctiles
dc.subject.otherTeleoperación
dc.subject.otherTareas de montaje
dc.subject.otherFunciones armónicas
dc.subject.otherPlanificación de caminos
dc.titleUse of path planning techniques based on harmonic functions for the haptic guidance of teleoperated assembly tasks
dc.typeExternal research report
dc.subject.lemacRobots -- Sistemes de control -- Informes tècnics
dc.rights.accessOpen Access
local.personalitzacitaciotrue


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