概括
我们开发了三种方法,用于低延迟的模拟位置传感,融合编码器和速率陀螺信号. 这些技术达到98%以上的准确性,在虚拟环境中实现了增强的真实性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 触觉学是指触觉学,是指触觉学.
背景情况:
- 准确和低延迟的位置传感对于现实的触觉反至关重要.
- 数字实现通常会受到延迟和离散工件的影响,从而限制性能.
研究的目的:
- 提出和评估用于计算低延迟模拟位置的新方法.
- 评估这些方法对模拟粘弹性虚拟环境的保真性和稳定性的影响.
主要方法:
- 开发了三个用于模拟位置计算的方法,两个融合编码器和速率陀螺数据.
- 一种方法使用编码器数据的陀螺偏差校正;另一种方法使用编码器引用的可重置集成器.
- 这些方法在一个自由度为1的触觉模拟系统上进行了测试.
主要成果:
- 与采样的编码器信号相比,实现了低延迟的模拟位置信号,准确度超过98%.
- 模拟粘弹性虚拟环境的虚拟刚度范围超过400%.
- 与常见的数字实现相比,观察到更高的保真度.
结论:
- 提出的方法有效计算低延迟模拟位置信号.
- 这些信号可以创建具有改进性能特性的高保真模拟触觉环境.
相关概念视频
01:04Oscillations about an Equilibrium Position
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Stability is an important concept in oscillation. If an equilibrium point is stable, a slight disturbance of an object that is initially at the stable equilibrium point will cause the object to oscillate around that point. For an unstable equilibrium point, if the object is disturbed slightly, it will not return to the equilibrium point. There are three conditions for equilibrium points—stable, unstable, and half-stable. A half-stable equilibrium point is also unstable, but is named so...
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01:21Linear Approximation in Time Domain
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Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
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