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Real-time kinematical optimal trajectory planning for haptic feedback manipulators
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China. (AASS)ORCID iD: 0000-0003-2474-7451
State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China.
2019 (English)In: Simulation, ISSN 0037-5497, Vol. 95, no 7, p. 621-635Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Sage Publications, 2019. Vol. 95, no 7, p. 621-635
Keywords [en]
Real-time trajectory planning, haptic feedback, virtual cockpit system, kinematical optimization, machine learning
National Category
Engineering and Technology Robotics
Identifiers
URN: urn:nbn:se:oru:diva-77208DOI: 10.1177/0037549718815755ISI: 000470768300004Scopus ID: 2-s2.0-85067176330OAI: oai:DiVA.org:oru-77208DiVA, id: diva2:1360316
Available from: 2019-10-11 Created: 2019-10-11 Last updated: 2019-10-11

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Zhang, Shiyu

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3839404142434441 of 173
CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf