Research of a New 6-Dof Force Feedback Hand Controller System
Joint Authors
Gao, Xin
Wang, Yifan
Song, Jingzhou
Jia, Qingxuan
Sun, Hanxu
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-04-16
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The field of teleoperation with force telepresence has expanded its scope to include manipulation at different scales and in virtual worlds, and the key component of which is force feedback hand controller.
This paper presents a novel force feedback hand controller system, including a 3-dof translational and 3-dof rotational hand controllers, respectively, to implement position and posture teleoperation of the robot end effector.
The 3-dof translational hand controller adopts innovative three-axes decoupling structure based on the linear motor; the 3-dof rotational hand controller adopts serial mechanism based on three-axes intersecting at one point, improving its overall stiffness.
Based on the kinematics, statics, and dynamics analyses for two platforms separately, the system applies big closed-loop force control method based on the zero force/torque, improving the feedback force/torque accuracy effectively.
Experimental results show that self-developed 6-dof force feedback hand controller has good mechanical properties.
The translational hand controller has the following advantages: simple kinematics solver, fast dynamic response, and better than 0.05 mm accuracy of three-axis end positioning, while the advantages of the rotational hand controller are wide turning space, larger than 1 Nm feedback, greater than 180 degrees of operating space of three axes, respectively, and high operation precision.
American Psychological Association (APA)
Gao, Xin& Wang, Yifan& Song, Jingzhou& Jia, Qingxuan& Sun, Hanxu. 2014. Research of a New 6-Dof Force Feedback Hand Controller System. Journal of Robotics،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042874
Modern Language Association (MLA)
Gao, Xin…[et al.]. Research of a New 6-Dof Force Feedback Hand Controller System. Journal of Robotics No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1042874
American Medical Association (AMA)
Gao, Xin& Wang, Yifan& Song, Jingzhou& Jia, Qingxuan& Sun, Hanxu. Research of a New 6-Dof Force Feedback Hand Controller System. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1042874
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042874