simulation of the admittance control based haptic interface device

Simulation of the Admittance Control Based Haptic Interface Device

Simulation of the Admittance Control Based Haptic Interface Device

The purpose of this paper is to demonstrate the simulation of the haptic interface device utilizing the admittance control method for the applications of human/virtual environment interaction. . The dynamics of the haptic interface is derived, and then it is integrated with the admittance interaction loop. In doing so, firstly, the haptic device is simulated and the design of it is done through...

Haptic Joystick in Admittance Control of Electrohydraulic Drive

In the paper the application of haptic joystick with magneto-rheological (MR) brake in control of electrohydraulic drive is presented. Two impedance and admittance control methods are shown. Basing on main equations describing electrohydraulic drive, the simulation model of an admittance control system is proposed. The results of chosen simulations are presented. Laboratory test stand is descri...

Haptic Rendering of Actuated Mechanisms by Active Admittance Control

Virtual Prototyping with haptic feedback offers great benefits in the development process of actuated systems. We present a generic control scheme for the haptic rendering of actuated mechanisms, introducing the active admittance. It extends the conventional admittance control by modeling the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative des...

Modeling Virtual Hands with Haptic Interface Device

For direct manipulation environment with force feedback, we propose a kind of string-based two-handed multi-fingers haptic interface device. The system can sense the positions of three fingertips and wrist on each of the user's hand. Force feedback can be perceived when the position of the finger comes into contact with the virtual object. We explain in detail about the algorithms used in the f...

control of the optical properties of nanoparticles by laser fields

در این پایان نامه، درهمتنیدگی بین یک سیستم نقطه کوانتومی دوگانه(مولکول نقطه کوانتومی) و میدان مورد مطالعه قرار گرفته است. از آنتروپی ون نیومن به عنوان ابزاری برای بررسی درهمتنیدگی بین اتم و میدان استفاده شده و تاثیر پارامترهای مختلف، نظیر تونل زنی(که توسط تغییر ولتاژ ایجاد می شود)، شدت میدان و نسبت دو گسیل خودبخودی بر رفتار درجه درهمتنیدگی سیستم بررسی شده اشت.با تغییر هر یک از این پارامترها، در...