Download Advances in Telerobotics (Springer Tracts in Advanced by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio PDF

By Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, Carlos Balaguer

A desirable booklet that covers intimately the entire most modern advances in Telerobotics. A must-read for scientists, researchers and scholars in teleoperation, it describes every little thing from tools and experimental effects to functions and advancements. Its 3 sections hide human process interfaces, keep watch over, and purposes. The ebook is complemented by way of a truly important CD-ROM containing fifteen study video clips that support to carry the cloth within the publication to existence.

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Perceptual Basis of Stereoscopic Video. In Proceedings of the SPIE, 3639:260–265, 1999. 18. S. Kim, S. Won, E. Stephen, T. Mitchell, H. Blake, and S. Lawrence. Quantitative evaluation of perspective and stereoscopic displays in three-axis manual tracking tasks. IEEE Trans Syst Man Cybernetics, 17(1):418-425, 1987. 19. B. Goldstein. Sensation and Perception. Wadsworth Publishing Company, 2002. 20. B. Goldstein. Cognitive Psychology. Wadsworth Publishing Company, 2004. 21. G. Burdea. Force and Touch Feedback for Virtual Reality.

The force bandwidth is, however, widened by increasing the viscous friction and stiffness as well as by lowering the inertia and eliminating backlash. In case of open loop controlled devices the bandwidth characteristics are purely determined by the mechanical design, whereas active closed loop control can shape the frequency response characteristics. As the bandwidth requirement at contact situations is more stringent than at free space operations the maximization of the open loop force bandwidth is the common design guideline for both, open loop and closed loop controlled haptic interfaces.

3 Kinematical Redundancies A maximization of the translational working volume in respect to the length of the kinematical chain requires a serial mechanism with a revolute joint at the base. Indeed, such designs can yield a spherical workspace with radius equal to the length of the robot arm. If the kinematical design is non-redundant (i. e. has equal number of actuated joints and DOF at the end-effector) large areas of the workspace will, however, not be available for haptic simulations due to the existence of interior singularities.

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