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Haptics for Virtual Reality and Teleoperation (Paperback, 2012 ed.)
Loot Price: R2,957
Discovery Miles 29 570
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Haptics for Virtual Reality and Teleoperation (Paperback, 2012 ed.)
Series: Intelligent Systems, Control and Automation: Science and Engineering, 67
Expected to ship within 10 - 15 working days
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This book covers all topics relevant for the design of haptic
interfaces and teleoperation systems. The book provides the basic
knowledge required for understanding more complex approaches and
more importantly it introduces all issues that must be considered
for designing efficient and safe haptic interfaces. Topics covered
in this book provide insight into all relevant components of a
haptic system. The reader is guided from understanding the virtual
reality concept to the final goal of being able to design haptic
interfaces for specific tasks such as nanomanipulation. The
introduction chapter positions the haptic interfaces within the
virtual reality context. In order to design haptic interfaces that
will comply with human capabilities at least basic understanding of
human sensors-motor system is required. An overview of this topic
is provided in the chapter related to human haptics. The book does
not try to introduce the state-of-the-art haptic interface
solutions because these tend to change quickly. Only a careful
selection of different kinematic configurations is shown to
introduce the reader into this field. Mathematical models of
virtual environment, collision detection and force rendering topics
are strongly interrelated and are described in the next two
chapters. The interaction with the virtual environment is simulated
with a haptic interface. Impedance and admittance based approaches
to haptic robot control are presented. Stability issues of haptic
interaction are analyzed in details and solutions are proposed for
guaranteeing stable and safe operation. Finally, haptic interaction
is extended to teleoperation systems. Virtual fixtures which
improve the teleoperation and human-robot cooperation in complex
environments are covered next and the last chapter presents
nanomanipulation as one specific example of teleoperation.
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