The development of a five DOF magnetorheological fluid-based telerobotic haptic system

被引：4

作者：

Ahmadkhanlou, Farzad ^{[1
]}

Washington, Gregory N. ^{[1
]}

Bechtel, Stephen E. ^{[1
]}

机构：

[1] Ohio State Univ, Columbus, OH 43210 USA

来源：

MODELING, SIGNAL PROCESSING, AND CONTROL FOR SMART STRUCTURES 2008 | 2008年 / 6926卷

关键词：

Magnetorheological fluid; force feedback; haptic; constitutive; teleoperation; control; stability;

D O I：

10.1117/12.776591

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The overall goal of the research conducted in this paper is to develop next generation force feedback systems by combining novel Magnetorheological (MR) fluid based systems with microstructural analysis and advanced control system design. A novel 5-DOF MR fluid-based robotic arm is designed and prototyped. The 5-DOF system is used to control a remote 5-DOF robot (the slave). Force feedback control is employed to replicate in the master those forces encountered in the slave.

引用

页数：10

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