Realization of Spatial Compliant Virtual Fixture using Eigenscrews
文献类型：会议论文
| 作者 | Dongwen Zhang; Lei Wang; Jia Gu; Zhicheng Li; Ken Chen |
| 出版日期 | 2012 |
| 会议名称 | 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012 |
| 会议地点 | San Diego, CA, United states |
| 英文摘要 | Virtual fixture is kind of assistance mechanism to limit movement into restricted regions and/or guide movement along desired trajectories in human-machine interactive operation. The structure of geometric and dynamic constraints of reference tasks is analyzed using screw theory. End-effector and the reference frame are elastically coupled by virtual screw springs, which slides along the reference sequences. An allowable motion screw set is constructed, from which the desired spatial compliance and stiffness matrices are synthesized from an allowable motion screw set. The presented virtual fixture are implemented dynamic contour tracking experiment, the effects of control parameters on system performance are also analyzed. The proposed virtual fixtures unites rotation and translation motions, and filter out task-unrelated components from the manual input while augmenting task-related components. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4099]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | 2012 |
| 推荐引用方式 GB/T 7714 | Dongwen Zhang,Lei Wang,Jia Gu,et al. Realization of Spatial Compliant Virtual Fixture using Eigenscrews[C]. 见:34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2012. San Diego, CA, United states. |
入库方式： OAI收割
来源：深圳先进技术研究院
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