Network-based Tele-robotic System with Guidance Functionality from Virtual Force

Hua, Jianning; Cui, Yujie; Li, Hongyi; Wang, Yuechao; Xi, Ning

doi:10.3724/sp.j.1218.2010.00522

Cited by 2 publications

(1 citation statement)

References 3 publications

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“…It is described by the spatial kinematics of the robot of end tool coordinate system. If the end of robot moves along a curve in space, the general form of the curve equation [22] is:…”

Section: Motion Description Languagementioning

confidence: 99%

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Ding¹,

Liu²,

Wang³

et al. 2022

J. Engg. Res. & Sci.

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In the real-time control procession of the vertebral milling robot, there are problems such as heavy workload of the operator, long working time, operational tremble and complicated procession. In order to solve the clinical practical basic problems such as avoiding excessive milling and force perception control of vertebral milling robot, this paper proposes a method of trajectory correction of motion description language of milling robot based on force feedback. The task of trajectory correction of the milling robot oriented to force feedback, on the basis of ensuring the atom relationship of motion description language, defines seven motion atoms for the function of avoiding excessive milling during the actual operation of the milling robot. A milling robot experimental system is built with a force feedback control handle and a milling robot. Experiments are carried out on the trajectory correction method of the milling robot based on the motion description language. The experimental results verify the feasibility and effectiveness of this method. The innovation of this paper is reflected in the following two aspects. The use of force feedback to define and model motion description language atoms is an innovation, and the application of motion description language trajectory correction method to the field of vertebral milling robots is an application innovation.

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“…It is described by the spatial kinematics of the robot of end tool coordinate system. If the end of robot moves along a curve in space, the general form of the curve equation [22] is:…”

Section: Motion Description Languagementioning

confidence: 99%

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Ding¹,

Liu²,

Wang³

et al. 2022

J. Engg. Res. & Sci.

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Fuzzy Control and Connected Region Marking Algorithm‐Based SEM Nanomanipulation

Rong

Sun

et al. 2012

Mathematical Problems in Engineering

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The interactive nanomanipulation platform is established based on fuzzy control and connected region marking (CRM) algorithm in SEM. The 3D virtual nanomanipulation model is developed to make up the insufficiency of the 2D SEM image information, which provides the operator with depth and real-time visual feedback information to guide the manipulation. The haptic device Omega3 is used as the master to control the 3D motion of the nanopositioner in master-slave mode and offer the force sensing to the operator controlled with fuzzy control algorithm. Aiming at sensing of force feedback during the nanomanipulation, the collision detection method of the virtual nanomanipulation model and the force rending model are studied to realize the force feedback of nanomanipulation. The CRM algorithm is introduced to process the SEM image which provides effective position data of the objects for updating the virtual environment (VE), and relevant issues such as calibration and update rate of VE are also discussed. Finally, the performance of the platform is validated by the ZnO nanowire manipulation experiments.

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Network-based Tele-robotic System with Guidance Functionality from Virtual Force

Cited by 2 publications

References 3 publications

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Fuzzy Control and Connected Region Marking Algorithm‐Based SEM Nanomanipulation

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