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Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

机译：通过虚拟机构的实时模拟对反射远程机器人的力施加运动约束

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In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs. (Atomindex citation 28:031684)

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作者
Joly, L. ; Andriot, C.;
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年度 1995
页码 1-9
总页数 9
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Robots; Telerobotics; Teleoperators; Real Time; Computerized Control Systems; Computerized Simulation; Interfaces; Man-Machine Systems; Motion; Meetings;

机译：机器人;遥控机器人;遥操作员;实时;计算机控制系统;计算机模拟;接口;人机系统;运动;会议;

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1. Imposing virtual origins on the velocity components in direct numerical simulations [J] . Gomez-de-Segura Garazi, Garcia-Mayoral Ricardo International Journal of Heat and Fluid Flow . 2020,第Deca期

机译：对直接数值模拟中的速度分量施加虚拟起源
2. Imposing semi-local geometric constraints for accurate correspondences selection in structure from motion: A game-theoretic perspective [J] . Albarelli A., Rodolà E., Torsello A. International Journal of Computer Vision . 2012,第1期

机译：施加半局部几何约束以从运动中准确地选择结构中的对应关系：博弈论的角度
3. Imposing Semi-Local Geometric Constraints for Accurate Correspondences Selection in Structure from Motion: A Game-Theoretic Perspective [J] . Andrea Albarelli, Emanuele Rodolà, Andrea Torsello International Journal of Computer Vision . 2012,第1期

机译：施加半局部几何约束以从运动中准确地选择结构中的对应关系：博弈论的角度
4. Imposing motion constraints to a force reflecting telerobot through real-time simulation of a virtual mechanism [C] . Joly, L.D., Andriot, Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on . 1995

机译：通过虚拟机制的实时仿真对反映远程机器人的力施加运动约束
5. Voxel-based terrain for real-time virtual simulations. [D] . Lengyel, Eric Stephen. 2010

机译：基于体素的地形，用于实时虚拟仿真。
6. A rolling constraint reproduces ground reaction forces and moments in dynamic simulations of walking running and crouch gait [O] . Samuel R. Hamner, Ajay Seth, Katherine M. Steele, -1

机译：滚动约束可在步行跑步和蹲伏步态的动态模拟中重现地面反作用力和力矩
7. The oceans mediate the response of global climate to natural and anthropogenic forcings. Yet for the past 2,000 years — a key interval for understanding the present and future climate response to these forcings — global sea surface temperature changes and the underlying driving mechanisms are poorly constrained. Here we present a global synthesis of sea surface temperatures for the Common Era (ce) derived from 57 individual marine reconstructions that meet strict quality control criteria. We observe a cooling trend from 1 to 1800 ce that is robust against explicit tests for potential biases in the reconstructions. Between 801 and 1800 ce, the surface cooling trend is qualitatively consistent with an independent synthesis of terrestrial temperature reconstructions, and with a sea surface temperature composite derived from an ensemble of climate model simulations using best estimates of past external radiative forcings. Climate simulations using single and cumulative forcings suggest that the ocean surface cooling trend from 801 to 1800 ce is not primarily a response to orbital forcing but arises from a high frequency of explosive volcanism. Our results show that repeated clusters of volcanic eruptions can induce a net negative radiative forcing that results in a centennial and global scale cooling trend via a decline in mixed-layer oceanic heat content. [O] . McGregor, Helen V., Evans, Michael N., Goosse, Hugues, 2015

机译：海洋调节了全球气候对自然和人为强迫的响应。然而，在过去的2,000年中（这是了解当前和未来气候对这些强迫的响应的关键间隔），全球海表温度变化及其潜在的驱动机制受到的约束很有限。在这里，我们提出了一个共同的时期（ce）的全球海面温度的全球综合，该综合来自57个符合严格质量控制标准的海洋重建项目。我们观察到从1到1800 ce的冷却趋势，对于显式测试重建中潜在的偏倚而言，该趋势很稳健。在801至1800 ce之间，表面降温趋势在质量上与地面温度重建的独立合成以及从使用过去外部辐射强迫的最佳估计的气候模型模拟集合推导出的海面温度合成在质量上是一致的。使用单一和累积强迫的气候模拟表明，从801到1800 ce的海洋表面冷却趋势主要不是对轨道强迫的反应，而是爆炸性火山爆发的频繁发生。我们的结果表明，火山喷发的反复簇可引起净的负辐射强迫，这会导致混合层海洋热量降低而导致百年和全球规模的降温趋势。
8. Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism [R] . Joly, L. , Andriot, C. 1995

机译：基于虚拟机构的实时仿真的远程操作的被动混合力 - 位置控制

Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

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