力覚フィードバックで機構の運動学的特性を体感するフレームワーク
A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback
Phantom Omniと2自由度の直列・並列機構を用い、ヤコビ行列に基づく特異点などの運動学的性質を力覚提示で直感的に理解させるシステムを構築した。
著者: Qinqin Zhang, Damien Chablat, Fouad Bennis, Wei Zhang
分類: cs.RO
原文アブストラクト
The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of this article is to use haptic feedback to render to the user the signification of different kinematic indices. The framework uses a Phantom Omni and a serial and parallel mechanism with two degrees of freedom. The end-effector of both mechanisms can be moved either by classical mouse, or Phantom Omni with or without feedback.
