Haptic Interface for a Contact Force Controlled Gantry-Tau robot
(2011) In MSc ThesesDepartment of Automatic Control
- Abstract
- Robotic science points to integrate the robot in the normal life and operations, with the scope to help humans and improve their performance. Haptic is the field that tries to insert the sense of touch in the computer applications. It is easy to understand the modern interest to mix the robotic with haptic. One possible problem with this configuration could be the delay in the communication between the operator (master) and the manipulator (slave). This thesis studies the application of a haptic device to control a new prototype of industrial parallel robot, using a mathematical method (Wave Variable Method) to create a stable control, regardless the time delay. The model was tested with simulations and confirmed with practical... (More)
- Robotic science points to integrate the robot in the normal life and operations, with the scope to help humans and improve their performance. Haptic is the field that tries to insert the sense of touch in the computer applications. It is easy to understand the modern interest to mix the robotic with haptic. One possible problem with this configuration could be the delay in the communication between the operator (master) and the manipulator (slave). This thesis studies the application of a haptic device to control a new prototype of industrial parallel robot, using a mathematical method (Wave Variable Method) to create a stable control, regardless the time delay. The model was tested with simulations and confirmed with practical experiments, utilizing also a normal serial robot. The versatility of haptic device has been used to create different control modes, selectable during functioning of the robot. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847403
- author
- Finocchi, Iacopo
- supervisor
- organization
- year
- 2011
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5885
- ISSN
- 0280-5316
- language
- English
- id
- 8847403
- date added to LUP
- 2016-03-16 12:14:23
- date last changed
- 2016-03-16 12:14:23
@misc{8847403, abstract = {{Robotic science points to integrate the robot in the normal life and operations, with the scope to help humans and improve their performance. Haptic is the field that tries to insert the sense of touch in the computer applications. It is easy to understand the modern interest to mix the robotic with haptic. One possible problem with this configuration could be the delay in the communication between the operator (master) and the manipulator (slave). This thesis studies the application of a haptic device to control a new prototype of industrial parallel robot, using a mathematical method (Wave Variable Method) to create a stable control, regardless the time delay. The model was tested with simulations and confirmed with practical experiments, utilizing also a normal serial robot. The versatility of haptic device has been used to create different control modes, selectable during functioning of the robot.}}, author = {{Finocchi, Iacopo}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Haptic Interface for a Contact Force Controlled Gantry-Tau robot}}, year = {{2011}}, }