Development of 3D-input device for virtual surface manipulation

Author

Yokoi, Hiroshi ; Yamashita, Juli ; Fukui, Yukio ; Shimojo, Makoto

Author_Institution

Nat. Inst. of Biosci. & Human Technol., Tsukuba, Japan

fYear

1994

fDate

18-20 Jul 1994

Firstpage

134

Lastpage

139

Abstract

This paper reports the virtual surface manipulation system with force feedback. The developed system is a Cartesian manipulator with stiffness, toughness, and linearity. The proposed manipulator allows the operator spatially manipulates the virtual space with 6DOF, using a force sensor. The control system of the manipulator realizes smooth movement using velocity control. As an application of the system, the deforming operation of virtual surface is shown in an experiment. This paper describes the mechanism and the control method of the manipulator with adaptive damper using network architecture learning through backpropagation technique

Keywords

adaptive control; backpropagation; damping; feedback; force control; manipulators; virtual reality; 3D-input device; Cartesian manipulator; adaptive damper; backpropagation learning; force feedback; linearity; stiffness; velocity control; virtual space wi; virtual surface manipulation; AC motors; Conferences; Data analysis; Extraterrestrial measurements; Frequency measurement; Humans; Q measurement; Robots; Servomechanisms; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Communication, 1994. RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on

Conference_Location

Nagoya

Print_ISBN

0-7803-2002-6

Type

conf

DOI

10.1109/ROMAN.1994.365942

Filename

365942