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Haptic Interface for a Contact Force Controlled Gantry-Tau robot

Finocchi, Iacopo (2011) In MSc Theses
Department 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:
author
Finocchi, Iacopo
supervisor
organization
year
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},
}