Real-time control of a force feedback haptic interface via EtherCAT fieldbus

2015 ◽  
Author(s):  
Q. V. Dang ◽  
B. Allouche ◽  
A. Dequidt ◽  
L. Vermeiren ◽  
V. Dubreucq
Keyword(s):  
Real Time ◽  
Force Feedback ◽  
Haptic Interface ◽  
Real Time Control ◽  
Time Control

scholarly journals Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

1997 ◽  
Author(s):  
John M. Hollerbach ◽  
Elaine Cohen ◽  
William Thompson ◽  
Rodney Freier ◽  
David Johnson ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Prototyping ◽  
Haptic Interface ◽  
Control Architecture ◽  
Real Time Control ◽  
Cad Modeling ◽  
Time Control ◽  
Smooth Transitions ◽  
New Algorithms ◽  
Surface Proximity

Abstract A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha_1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

Control of a Haptic Interface and a Micromachining Setup With an Open Source Real-Time System

2007 ◽  
Author(s):  
Evren Samur ◽  
Ulrich Spaelter ◽  
Lionel Flaction ◽  
Pascal Maillard ◽  
Hannes Bleuler ◽  
...  
Keyword(s):  
Data Acquisition ◽  
Open Source ◽  
Real Time ◽  
Haptic Interface ◽  
Real Time Control ◽  
Mechatronic Systems ◽  
Time System ◽  
Real Time System ◽  
Ongoing Research ◽  
Time Control

Open source software have evolved into powerful tools for real-time control of mechatronic systems. They are of interest for academic purposes, as they promise high flexibility at low cost. In this paper, we investigate the performance of an open source control architecture based on the Linux Real-Time Application Interface (RTAI) through two applications, a haptic interface for surgery simulation and a setup for the micromachining of glass. Both applications demand a compact real-time system with sufficient precision (i.e. low jitter) for online process control and data acquisition. The real-time control has been realized on a laptop with a USB-port data acquisition card. Performance measurement results show that high quality real-time control can be performed up to 2kHz via USB communication, which is sufficient for a large range of robotic or mechatronic applications. Drawbacks like the need for considerable knowledge of Linux internals for successful installation as well as the current limitations are discussed and strategies are proposed to overcome these. Both setups are currently being used for ongoing research as well as for educational purposes.

scholarly journals Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

1998 ◽  
Author(s):  
John M. Hollerbach ◽  
Elaine Cohen ◽  
William Thompson ◽  
Rodney Freier ◽  
David Johnson ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Prototyping ◽  
Haptic Interface ◽  
Control Architecture ◽  
Real Time Control ◽  
Cad Modeling ◽  
Time Control ◽  
Smooth Transitions ◽  
New Algorithms ◽  
Surface Proximity

Abstract A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha.1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

Real-time Control for Mobile Robot Considering Environmental Changes

2007 ◽  
Vol 73 (12) ◽  
pp. 1369-1374
Author(s):  
Hiromi SATO ◽  
Yuichiro MORIKUNI ◽  
Kiyotaka KATO
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Environmental Changes ◽  
Real Time Control ◽  
Time Control
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