Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications
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Summary
This dissertation presents an approach to simulating the dynamic force and moment interaction between a human and a virtual object using a robotic manipulator as the force transmitter and demonstrates the feasibility of automatic, computer generated control laws for complex robotic systems.
- Type
- dissertation
- Published
- 1996-01-01
- Cited by
- 27
- References
- 55
- Access
- Open access
- OpenAlex
- https://openalex.org/W81229994
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:107615442
Keywords
Control theory (sociology), Moment (physics), Computer science, Control engineering, Controller (irrigation)
References
- ELECTRONICALLY CONTROLLED MANIPULATOR
- Introduction to Differential Equations
- EXOS research on master controllers for robotic devices
- Optimal Control with Exact Linearization of Robotic Manipulators
- Manipulation with Dynamic Skills
- A Symbolic Teleoperator Interface For Time-delayed Underwater Robot Manipulation
- GROPE-1: A Computer Display to the Sense of Feel
- Control of Robot Manipulators
- Virtual environments for aerospace training
- Impedance Control: An Approach to Manipulation: Part I—Theory
- Direct digital design of computed torque controllers
- Case Study on Haptic Devices: Human-Induced Instability in Powered Hand Controllers
- Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators
- Efficient PUMA manipulator jacobian calculation and inversion
- Adaptive Compliant Motion Control for Dexterous Manipulators
- A fortran package for generalized, cross-validatory spline smoothing and differentiation
- Virtual haptic overlays enhance performance in telepresence tasks
- A Robotic Perceptual System Utilizing Passive Vision and Active Touch
- Project GROPEHaptic displays for scientific visualization
- Visual grasping with long delay time of a free floating object in orbit
Cited by
- Interactive synthetic environments with force feedback
- Force reflecting haptic interactions in a synthetic environment
- Haptic feedback for virtual assembly
- Six degree-of-freedom haptic rendering using voxel sampling
- Baseline Tuning Methodology Supervisory Sliding Mode Methodology: Applied to IC Engine
- Performance-Based Adaptive Gradient Descent Optimal Coefficient Fuzzy Sliding Mode Methodology
- Effect of Rule Base on the Fuzzy-Based Tuning Fuzzy Sliding Mode Controller: Applied to 2 nd Order Nonlinear System
- Haptic interaction using a PUMA560 and the ISU force reflecting exoskeleton system
- Robustly Stable Haptic Interaction Control using an Energy-bounding Algorithm
- Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment
- Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator
- Design and implementation of haptic interactions
- Online Tuning Chattering Free Sliding Mode Fuzzy Control Design: Lyapunov Approach
- Methodology of Mathematical Error-Based Tuning Sliding Mode Controller
- Design Error-based Linear Model-free Evaluation Performance Computed Torque Controller
- Methodology of FPGA-Based Mathematical Error-Based Tuning Sliding Mode Controller
- Methodology of Robust Linear On-line High Speed Tuning for Stable Sliding Mode Controller: Applied to Nonlinear System
- Design New Control Methodology of Industrial Robot Manipulator: Sliding Mode Baseline Methodology
- Design Baseline Computed Torque Controller
- Comparison of Techniques for Disturbance-Tolerant Position Control of the Manipulator of PUMA Robot using PID
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