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Collision-avoidance trajectory planning for a virtual kinesthetic feedback system

文献类型：期刊论文

作者Wang, Kun1,2,3; Gosselin, Clement3; Wu, Xuan2; Zhang, Qiuju1; Li, Ke1
刊名JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
出版日期2016-07-01
卷号30期号:7页码:3321-3330
关键词Collision-avoidance Kinesthetic Trajectory Plan Virtual Inertia
DOI10.1007/s12206-016-0641-4
文献子类Article
英文摘要This paper proposes the collision-avoidance trajectory design and simulation of a virtual kinesthetic feedback system. The system has two sliders driven in two tracks, respectively, and produces virtual masses when the user holds and moves the system. Trajectory planning considering both the ideal and constrained scenarios in applications is carried out. A collision-avoidance trajectory is designed based on the quintic polynomial, and the influence of the time interval and the switching point is discussed. Simulations were performed to verify the function of the system. The results show that without constraints, the system can produce prescribed virtual masses. The displacements of the slider are affected by the error between the prescribed virtual mass and the real mass of the system. With the constraints of the tracks' lengths, the produced virtual masses are altered from the prescribed. Adjusting the time interval and the switching point could optimize the performance of the system when the geometric parameters of the system are set.
WOS研究方向Engineering
语种英语
WOS记录号WOS:000379862800043
资助机构National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; National Natural Science Foundation of China(51505190 ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Jiangsu Province Natural Science Foundation(BK20150153) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Natural Sciences and Engineering Research Council of Canada (NSERC) ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; Canada Research Chair Program ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236) ; 51575236)
源URL[http://ir.hfcas.ac.cn:8080/handle/334002/22489]  
专题合肥物质科学研究院_中科院合肥物质科学研究院先进制造技术研究所
作者单位1.Jiangnan Univ, Sch Mech Engn, Key Lab Adv Food Mfg Equipment & Technol, 1800 Lihu Ave, Wuxi 214122, Jiangsu, Peoples R China
2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, 801 Chang Wu Middle Rd, Changzhou 213164, Jiangsu, Peoples R China
3.Univ Laval, Dept Genie Mecan, 1065 Ave Med, Quebec City, PQ G1V0A6, Canada
推荐引用方式
GB/T 7714		 Wang, Kun,Gosselin, Clement,Wu, Xuan,et al. Collision-avoidance trajectory planning for a virtual kinesthetic feedback system[J]. JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY,2016,30(7):3321-3330.
APA Wang, Kun,Gosselin, Clement,Wu, Xuan,Zhang, Qiuju,&Li, Ke.(2016).Collision-avoidance trajectory planning for a virtual kinesthetic feedback system.JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY,30(7),3321-3330.
MLA Wang, Kun,et al."Collision-avoidance trajectory planning for a virtual kinesthetic feedback system".JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 30.7(2016):3321-3330.

入库方式： OAI收割

来源：合肥物质科学研究院

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