Real Time Haptic Display of Rigid-Body Dynamic Systems

刚体动态系统的实时触觉显示

• 批准号: 9403730
• 负责人: James Colgate
• 金额: $ 15.08万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1994
• 资助国家: 美国
• 起止时间: 1994-06-01 至 1998-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9403730&HistoricalAwards=false
• 关键词: Real; Time; Haptic; Display; Rigid

9403730 Colgate This project deals with the haptic display of rigid body dynamic systems. A haptic interface allows an operator to manipulate and feel computer-generated environments in applications such as flight simulation, rapid prototyping systems and physical therapy. During the project activity, rigid body dynamic systems featuring unilateral and bilateral constraints are investigated using a network method approach for real-time solution. Such methods guarantee passivity and exploit a low-level of parallelism to achieve real-time integration rates for stiff dynamic systems. Transputers are employed as basic computational elements for laboratory implementation using a state-of-the- art four degree of freedom haptic display device. ***

9403730高露洁该项目涉及刚体动态系统的触觉显示。触觉界面允许操作员在应用程序，快速原型制度和物理疗法等应用中操纵和感受计算机生成的环境。在项目活动期间，使用网络方法进行实时解决方案研究了具有单侧和双侧约束的刚体动态系统。这样的方法可以保证被动性并利用低水平的并行性来实现僵硬动态系统的实时整合速率。使用最先进的自由度触觉显示器，将变速器用作实验室实施的基本计算元素。 ***