A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects

IEEE Transactions on Systems, Man and Cybernetics Part C: Applications and Reviews

Volumn 29, Issue 4, 1999, Pages 481-493

  Clover, C L ^a  

^a Iowa State University of Science and Technology   (United States)

Author keywords

Admittance; Control systems; Dynamics; Haptic feedback; Impedence; Robot; Simulation

Indexed keywords

HAPTIC FEEDBACK;

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; FEEDBACK CONTROL; MAN MACHINE SYSTEMS; VIRTUAL REALITY;

HUMAN COMPUTER INTERACTION;

EID: 0033221954     PISSN: 10946977     EISSN: None     Source Type: Journal    
DOI: 10.1109/5326.798763     Document Type: Article

References (51)

1. C. Sayers and R. Paul"Synthetic fixturing," in Proc. 1993 ASME Winter Ann. Meeting: Advances in Robotics, Mechatronics, and Haptic Interfaces, New Orleans, LA, pp. 37-46.
2. L. B. Rosenberg"Virtual haptic overlays enhance performance in telepresence tasks," in Proc. Int. Soc. Opt. Eng. (SPIE), Boston, MA, vol. 2351, 1995, pp. 99-108.
3. J. Funda and R. Paul"A symbolic teleoperator interface for time-delayed underwater robot manipulation," in Proc. Oceans '91, Honolulu, HI, pp. 1526-1533.
4. C. Fagerer, D. Dickmanns, and E. D. Dickmanns"Visual grasping with long delay time of a free floating object in orbit," Auton. Robots, vol. 1, no. 1, pp. 53-68, 1994.
5. B. R. Loftin"Virtual environments for aerospace training," in Proc. 1994 Wescon Conf., Anaheim, CA, pp. 384-387.
6. F. P. Brooks, Jr., M. Ouh-Young, J. J. Batter, and P. J. Kilpatrick"Project GROPE-haptic displays for scientific visualization," Comput. Graph. (USA), vol. 24, pp. 177-185, Aug. 1990.
7. R. C. Goertz and W. M. Thompson"Electronically controlled manipulator," Nucleonics, pp. 46-47, 1954.
8. J. J. Batter and F. P. Brooks, Jr."GROPE-I: A computer display to the sense of feel," in Information Processing: Proc. IFIP Congress '71, pp. 759-763.
9. A. K. Bejczy and J. K. Salisbury"Kinesthetic coupling for remote manipulators," Comput. Mech. Eng., vol 2, no. 1, pp. 48-62, 1983.
10. B. Hannaford, L. Wood, D. A. McAffee, and H. Zak"Performance evaluation of a six-axis generalized force-reflecting teleoperator," IEEE Trans. Syst., Man, Cybern., vol. 21, pp. 620-633, Aug. 1991.
11. S. A. Stansfield"A robotic perceptual system utilizing passive vision and active touch," Int. J. Robot. Res., vol. 7, no. 6, pp. 138-161, 1988.
12. W. McNeely, G. C. Burdea, B. Hannaford, M. Hirose, S. Jacobsen, K. Salisbury, and S. Tachi"Wither force feedback," in Proc. 1995 Virtual Reality Annu. Int. Symp., Triangle Park, NC, pp. 226-227.
13. R. E. Ellis, O. M. Ismaeli, and M. G. Lipsett"Design and evaluation of a high-performance prototype planar haptic interface," in Proc. 1993 ASME Winter Annu. Meeting: Advances in Robotics, Mechatronics, and Haptic Interfaces, New Orleans, LA, pp. 55-64.
14. P. A. Millman, M. Stanley, and J. E. Colgate"Design of a high performance haptic interface to virtual environments," in Proc. 1993 IEEE Virtual Reality Annu. Int. Symp., Seattle, WA, pp. 216-222.
15. H. Iwata"Artificial reality with force-feedback: Development of desk-top virtual space with compact master manipulator," Comput. Graph. (USA), vol. 24, pp. 165-170, Aug. 1990.
16. B. A. Marcus, B. An, and B. Eberman"EXOS research on master controllers for robotic devices," in Proc. 5th Annu. Workshop on Space Operations, Applications, and Research, (SOAR '91), pp. 238-245.
17. T. H. Massie and J. K. Salisbury"The PHANToM haptic interface: A device for probing virtual objects," in Proc. 1994 ASME Winter Annu. Meeting: Dynamic Systems and Control, Chicago, IL, vol. 55, pp. 295-301.
18. M. Ishii and M. Sato"Force sensations in pick-and-place tasks," in Proc. 1994 ASME Winter Anna. Meeting: Dynamic Systems and Control, Chicago, IL, vol. 55, pp. 339-344.
19. P. Buttolo and B. Hannaford"Pen-based force display for precision manipulation in virtual environments," in Proc. 1995 Virtual Reality Annu. Int. Symp., Research Triangle, NC, pp., 217-224.
20. G. R. Luecke and J. Winkler"A magnetic interface for robot-applied virtual forces," in Proc. 1994 ASME Winter Annu. Meeting: Dynamic Systems and Control, Chicago, IL, pp. 271-275.
21. R. L. Hollis, S. E. Salcudean, and A. P. Allan"A six degree-of-freedom magnetically levitated variable compliance fine motion wrist: Design, modeling, and control," IEEE Trans. Robot. Automat., vol. 7, no. 3, pp. 320-332, 1991.
22. S. E. Salcudean and T. D. Vlaar"On the simulation of stiff walls and static friction with a magnetically levitated input/output device," in Proc. 1994 ASME Winter Annu. Meeting: Dynamic Systems and Control, Chicago, IL, pp. 303-309.
23. Y. Adachi, T. Kumano, and K. Ogino"Sensory evaluation of virtual haptic push-buttons," in Proc. 1994 ASME Winter Annu. Meeting, Chicago, IL, pp. 361-368.
24. Intermediate representation for stiff virtual objects," in Proc. 1995 Virtual Reality Annu. Int. Symp. Research Triangle, NC, pp. 203-210.
25. T. Takeda and Y. Tsutsul"Development of a virtual training environment," in Proc. 1993 ASME Winter Annu. Meeting: Advances in Robotics, Mechatronics, and Haptic Interfaces, New Orleans, LA, pp. 1-10.
26. M. Ouh-young et al., "Using a manipulator for force display in molecular docking," in Proc. 1988 IEEE Int. Conf. Robotics and Automation, Philadelphia, PA, pp. 1824-1829.
27. S. Leake"A cartesian force reflecting teleoperation system," Comput. Electr. Eng., vol. 17, no. 3, pp. 133-146, 1991.
28. S. C. Jacobsen, F. M. Smith, E. K. Iverson, and D. K. Backman"High performance, high dexterity, force reflective teleoperator," in Proc. 38th Conf. Remote Systems Technology, Washington, DC, 1990, pp. 180-185.
29. H. Kazerooni and M. G. Her"The dynamics and control of a haptic interface device," IEEE Trans. Robot. Automat., vol. 10, pp. 453-464, Aug. 1994.
30. H. Hashimoto, Y. Kunii, M. Buss, and F. Harashima"Dynamic force simulator for force feedback human-machine interaction," in Proc. 1993 Virtual Reality Annu. Int. Symp., Seattle, WA, pp. 209-215.
31. K. Kosuge, Y. Fujisawa, and T. Fukuda"Control of a man-machine system interacting with the environment," Adv. Robot., vol 8, no. 4, pp. 429-441, 1994.
32. B. Gillespie and M. Cutkosky"Interactive dynamics with haptic display," in Proc. 1993 ASME Winter Annu. Meeting: Advances in Robotics, Mechatronics, and Haptic Interfaces, New Orleans, LA, pp. 65-72.
33. W. A. McNeely"Robot graphics: A new approach to force feedback for virtual reality," in Proc. 1993 Virtual Reality Annu. Int. Symp., Seattle, WA, pp. 336-341.
34. N. Hogan"Impedance control: An approach to manipulation (Part 1 - Theory)," J. Dyn. Syst., Meas., Control, vol. 107, pp. 1-7, Mar. 1985.
35. Y. Yokokohji, R. Hollis, and T. Kanade"What you can see is what you can feel-Development of a visual/haptic interface to virtual environment," in Proc. 1996 Virtual Reality Annu. Int. Symp., Santa Clara, CA, pp. 46-53.
36. C. L. Clover, G. R. Luecke, J. J. Troy, and W. A. McNeely"Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment," in Proc. Int. Conf. Robot. Automat., Albuquerque, NM, 1997, pp. 724-730.
37. B. B. Mathewson and W. S. Newman"Integration of force strategies and natural admittance control," in Proc. 1994 AMSE Winter Annu. Meeting: Dynamic Systems and Control, Chicago, IL, pp. 237-242.
38. W. S. Kim"Development of a new force regulating control scheme and an application to a teleoperation training simulator," in Proc. 1992 Int. Conf. Robot. Automat., Nice, France, 1992, pp. 1412-1419.
39. N. Hogan"Stable execution of contact tasks using impedance control," in Proc. 1987 Int. Conf. Robotics and Automation, Raleigh, NC, pp. 1047-1054.
40. M. S. Sanders, P. D. Brodt, and R. N. Wentworth"Safety in the industrial robot environment," in Proc. 7th Annu. Conf.: University Programs in Computer-Aided Engineering, Design, and Manufacturing, Laramie, WY, 1989, pp. 191-197.
41. N. Hogan"Controlling impedance at the man/machine interface," in Proc. 1989 IEEE Int. Conf. Robotics and Automation, Scottsdale, AZ, pp. 1626-1631.
42. B. W. Drake and T. C. S. Hsia"Implementation of a unified robot kinematics and inverse dynamics algorithm on a DSP chip," IEEE Trans. Ind. Electron., vol. 40, pp. 273-281, Apr. 1993.
43. R. K. Miller, Introduction to Differential Equations. Englewood Cliffs, NJ: Prentice-Hall, 1991.
44. A. Fijany and A. Bejczy"Efficient jacobian inversion for the control of simple robot manipulators," in Proc. 1988 Int. Conf. Robotics and Automation, Philadelphia, PA, pp. 999-1007.
45. J. J. Craig, Introduction to Robotics: Mechanics and Control. Reading, MA: Addision-Wesley, 1989.
46. S. Elgazzar"Efficient kinematic transformations for the PUMA 560 robot," IEEE J. Robot. Automat., vol. RA-1, pp. 142-151, Mar. 1985.
47. J. M Hollerbach and G. Sahar"Wrist-partitioned inverse kinematic accelerations and manipulator dynamics," Int. J. Robot. Res., vol. 2, no. 4, pp. 61-76, 1983.
48. B. Armstrong, O. Khatib, and J. Burdick"The explicit dynamic model and inertial parameters of the Puma 560 arm," in Proc. 1986 Int. Conf. Robotics and Automation, San Francisco, CA, pp. 510-518.
49. H. J. Woltring"A Fortran package for generalized, cross-validatory spline smoothing and differentiation," Adv. Eng. Softw., vol. 8, no. 2, pp. 1-4-107, 1986.
50. J. E. Colgate and J. M. Brown"Factors affecting the z-width of a haptic display," in Proc. 1994 Conf. Robotics and Automation, San Diego, CA, pp. 3205-3210.
51. M. B. Leahy, Jr. et al., "Efficient PUMA manipulator Jacobian calculation and inversion," J. Robot. Syst., vol. 4, no. 2, pp. 185-197, 1987.