Motion Constraints Simulation Based on MATLAB and Haptic Interface

摘要：

This paper proposes a system to simulate the motion constraints on the serial robotic arm in the virtual reality world. The concept of guidance virtual fixture is involved in the control law of the human-machine collaborative system, which guides the users motion along the preferred direction while preventing the disturbance along the non-proffered direction. Haptic device, Phantom Desktop, is used as the master device to manipulate the virtual robot as the slave device in the MATLAB and feeds back the force to the user. We proposed this method and haptic assisted system to simulate the kinematics and trajectory of the robot when user doing the manipulation. The simulation results verify the validity of our scheme.

作者: Lin Qi Max Q.-H. Meng

作者单位: Department of Electronic Engineering at The Chinese University of Hong Kong,Hong Kong,SAR,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 717-722

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）