DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Myeong Jin | ko |
dc.contributor.author | Lee, Doo Yong | ko |
dc.date.accessioned | 2017-08-02T08:45:09Z | - |
dc.date.available | 2017-08-02T08:45:09Z | - |
dc.date.created | 2017-07-21 | - |
dc.date.created | 2017-07-21 | - |
dc.date.created | 2017-07-21 | - |
dc.date.issued | 2017-07-10 | - |
dc.identifier.citation | 20th World Congress of the International-Federation-of-Automatic-Control (IFAC), pp.1346 - 1351 | - |
dc.identifier.uri | http://hdl.handle.net/10203/224925 | - |
dc.description.abstract | This paper proposes a new control architecture for stable and transparent haptic rendering of interactive simulation involving a rigid tool and deformable objects. The traditional direct and proxy-based haptic rendering schemes are analyzed for the absolute stability, and transmit impedance employing the well-known bilateral control architecture frequently used in the field of teleoperation systems. An equivalent impedance is conveyed in the proposed control scheme to the haptic device instead of the contact force between the virtual tool and the object. The trade-off problem between the absolute stability and the transmitted impedance is resolved by computing the haptic feedback using the equivalent impedance. The proposed rendering scheme shows higher transparency than the conventional haptic rendering methods while maintaining the absolute stability. | - |
dc.language | English | - |
dc.publisher | IFAC 2017 | - |
dc.title | A New Control Architecture for Stable and Transparent Haptic Feedback of Interactive Simulation | - |
dc.type | Conference | - |
dc.identifier.wosid | 000423845200219 | - |
dc.identifier.scopusid | 2-s2.0-85031813814 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1346 | - |
dc.citation.endingpage | 1351 | - |
dc.citation.publicationname | 20th World Congress of the International-Federation-of-Automatic-Control (IFAC) | - |
dc.identifier.conferencecountry | FR | - |
dc.identifier.conferencelocation | Pierre Baudis Congress Center | - |
dc.identifier.doi | 10.1016/j.ifacol.2017.08.224 | - |
dc.contributor.localauthor | Lee, Doo Yong | - |
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