Game Development Reference
In-Depth Information
elasticity - damper: This element stores elastic potential energy and can express
the coupling (viscoelastic) between an actuator and a manipulator (Figure 9.11);
transmission line without losses (physical channel): This element can represent
a transmission delay between a master post and a slave post. We observe the
characteristic impedance of the line (Figure 9.12).
Such a representation is useful during physical interpretation of the elements intro-
duced to obtain passivity, like virtual coupling, which can be simply seen as a standard
proportional-integrator element in automation. Inversely, they can be used to analyse
the elements contained in a diagram.
BIBLIOGRAPHIC REFERENCES
Adams, R.J. &Hannaford, B. (1999) Stable haptic interaction with virtual environments. IEEE
Transactions on Robotics and Automation , 15 (3), 465-474.
Burdea, G. (1996) Force and touch feedback for virtual reality. Editions Hardcover. 360 pp.
Carignan, C.R. &Cleary, K.R. (2000) Closed-loop force control for haptic simulation of virtual
environments. Haptics-e, The Electronic Journal of Haptics Research , 1 (2). Available from:
www.haptics-e.org.
Clover, C.L., Luecke, G.R., Troy, J.J. & McNeely, W.A. (1997) Dynamic simulations of virtual
mechanisms with haptic feedback using industrial robotics equipment. Proceedings of the
1997 IEEE International Conference on Robotics and Automation, Albuquerque, Nouveau-
Mexique, 20-25 April 1997 . pp. 724-730.
Colgate, J. E. & Shenkel, G. (1994) Passivity of a class of sampled data systems: Application
to haptic interfaces. Proceedings of the American Control Conference, Baltimore, Maryland,
29 June-1 July 1994 . pp. 3236-3240.
De Schutter, J., Bruyninckx, H., Zhu, W.H. & Spong, M.W. (1997) Force control: A bird's
eye view. IEEE CSS/RAS International Workshop on Control Problems in Robotics and
Automation: Future Directions, San Diego, California, December 1997 . pp. 1-17.
Fuchs, P. (1996) Les interfaces de la realite virtuelle. AJIIMD, Editions Les Presses de l'Ecole
des Mines de Paris . 210 pp.
Hogan, N. (1989) Controlling impedance at the man/machine interface. Proceedings of the 1989
IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, May 1989 .
pp. 1626-1631.
Lawrence, D.A. (1993) Stability and transparency in bilateral teleoperation. IEEE Transactions
on Robotics and Automation , 9 (5), 624-637.
Lin, M.C. &Otaduy, M. (2005) Recent advances in haptic rendering and applications. Siggraph
2005 Courses, Los Angeles, California, 31 July-4 August 2005 .
Massie, T.H. & Salisbury, J.K. (1994) The PHANToM haptic interface: A device for probing
virtual objects. Symposium on Haptic Interfaces for Virtual Environment and Teleopera-
tor Systems, Proceedings of the ASME Winter Annual Meeting, Chicago, November 1994 .
pp. 295-302.
Micaelli, A. (2002) Asservissements et lois de couplage en téléopération. Téléopération et
télérobotique . Paris, Editions Hermès.
Stramigioli, S. (1998) From differentiable manifolds to interactive robot control. Thèse de
Doctorat de l'Université de Delft, 4 December 1998. 287 pp.
Whitney, D.E. (1987) Historical perspective and state of the art in robot force control.
International Journal of Robotics Research , 6 (1), 3-14.
Search Nedrilad ::




Custom Search