Collision-avoidance trajectory planning for a virtual kinesthetic feedback system

doi:10.1007/s12206-016-0641-4

	Collision-avoidance trajectory planning for a virtual kinesthetic feedback system
	Wang, Kun1,2,3 ; Gosselin, Clement 3; Wu, Xuan 2; Zhang, Qiuju 1; Li, Ke 1
	2016-07-01
发表期刊	JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
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.
文章类型	Article
关键词	Collision-avoidance Kinesthetic Trajectory Plan Virtual Inertia
WOS标题词	Science & Technology ; Technology
DOI	10.1007/s12206-016-0641-4
收录类别	SCI
语种	英语
项目资助者	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)
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000379862800043
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/22489
专题	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
第一作者单位	中科院合肥物质科学研究院先进制造技术研究所
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.

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