Real-time kinematical optimal trajectory planning for haptic feedback manipulators.
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| Title: | Real-time kinematical optimal trajectory planning for haptic feedback manipulators. |
|---|---|
| Authors: | Zhang, Shiyu1 (AUTHOR), Dai, Shuling1 (AUTHOR) sldai@buaa.edu.cn |
| Source: | Simulation. Jul2019, Vol. 95 Issue 7, p621-635. 15p. |
| Subjects: | Psychological feedback, Prehension (Physiology), Control boards (Electrical engineering), Machine learning |
| Abstract: | To obtain real-time haptic interactions in virtual cockpit systems (VCSs), a real-time trajectory planning method based on kinematical optimization for haptic feedback manipulators (HFMs) is presented in this paper. Firstly, the control panel area is extracted in the workspace of the HFM, in which the interacting point is located. Then a feasible interacting configuration is calculated as the objective configuration of the trajectory encoded by a parametric representation. The trajectory planning problem is formulated as a non-linear optimization problem based on kinematics, which is solved in real-time by finding a good initial solution with machine learning methods. Simulations show that trajectories with a compromise between safety and rapidity can be calculated in real-time by this method, which provides a basis for haptic interaction in VCSs. [ABSTRACT FROM AUTHOR] |
| Copyright of Simulation is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 136889425 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Real-time kinematical optimal trajectory planning for haptic feedback manipulators. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Zhang%2C+Shiyu%22">Zhang, Shiyu</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Dai%2C+Shuling%22">Dai, Shuling</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> sldai@buaa.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Simulation%22">Simulation</searchLink>. Jul2019, Vol. 95 Issue 7, p621-635. 15p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Psychological+feedback%22">Psychological feedback</searchLink><br /><searchLink fieldCode="DE" term="%22Prehension+%28Physiology%29%22">Prehension (Physiology)</searchLink><br /><searchLink fieldCode="DE" term="%22Control+boards+%28Electrical+engineering%29%22">Control boards (Electrical engineering)</searchLink><br /><searchLink fieldCode="DE" term="%22Machine+learning%22">Machine learning</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: To obtain real-time haptic interactions in virtual cockpit systems (VCSs), a real-time trajectory planning method based on kinematical optimization for haptic feedback manipulators (HFMs) is presented in this paper. Firstly, the control panel area is extracted in the workspace of the HFM, in which the interacting point is located. Then a feasible interacting configuration is calculated as the objective configuration of the trajectory encoded by a parametric representation. The trajectory planning problem is formulated as a non-linear optimization problem based on kinematics, which is solved in real-time by finding a good initial solution with machine learning methods. Simulations show that trajectories with a compromise between safety and rapidity can be calculated in real-time by this method, which provides a basis for haptic interaction in VCSs. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Simulation is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1177/0037549718815755 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 15 StartPage: 621 Subjects: – SubjectFull: Psychological feedback Type: general – SubjectFull: Prehension (Physiology) Type: general – SubjectFull: Control boards (Electrical engineering) Type: general – SubjectFull: Machine learning Type: general Titles: – TitleFull: Real-time kinematical optimal trajectory planning for haptic feedback manipulators. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Zhang, Shiyu – PersonEntity: Name: NameFull: Dai, Shuling IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 07 Text: Jul2019 Type: published Y: 2019 Identifiers: – Type: issn-print Value: 00375497 Numbering: – Type: volume Value: 95 – Type: issue Value: 7 Titles: – TitleFull: Simulation Type: main |
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