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Widening 6-DOF haptic devices workspace with an additional degree of freedom
Tsukuba, Japan March 22-March 24
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/WHC.2007.127Second Joint EuroHaptics Conference a ...
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Florian Gosselin, Claude Andriot, Florian Bergez, Xavier Merlhiot, "Widening 6-DOF haptic devices workspace with an additional degree of freedom," World Haptics Conference, pp. 452-457, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007.
 
 
BibTex
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@article{ 10.1109/WHC.2007.127,
author = {Florian Gosselin and Claude Andriot and Florian Bergez and Xavier Merlhiot},
title = {Widening 6-DOF haptic devices workspace with an additional degree of freedom},
journal ={World Haptics Conference},
volume = {0},
year = {2007},
isbn = {0-7695-2738-8},
pages = {452-457},
doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2007.127},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - World Haptics Conference
TI - Widening 6-DOF haptic devices workspace with an additional degree of freedom
SN - 0-7695-2738-8
SP452
EP457
A1 - Florian Gosselin,
A1 - Claude Andriot,
A1 - Florian Bergez,
A1 - Xavier Merlhiot,
PY - 2007
KW - null
VL - 0
JA - World Haptics Conference
ER -
 
Florian Gosselin, Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Claude Andriot, Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Florian Bergez, Laboratoire d?Int?gration des Syst?mes et des Technologies, France
Xavier Merlhiot, Laboratoire d?Int?gration des Syst?mes et des Technologies, France
The aim of haptic interfaces is to enhance the user?s immersion in a virtual environment through the stimulation of the haptic sense. In the context of scale one applications in immersive environments, the haptic interface must provide a very large workspace without degrading transparency. To reach this goal, we investigated the addition of a 7th axis with larger range to a 6-DOF haptic device. This way, the workspace is increased while with a proper control scheme the dynamic properties of the initial device are saved. To ensure good control on this redundant system we use the notion of generalised dynamically consistent inverse of the Jacobian within a positionposition control approach.
Citation:
Florian Gosselin, Claude Andriot, Florian Bergez, Xavier Merlhiot, "Widening 6-DOF haptic devices workspace with an additional degree of freedom," whc, pp.452-457, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007
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