Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Presence: Teleoperators and Virtual Environments
Shoulder Arthroscopy Training System with Force Feedback
MEDIVIS '06 Proceedings of the International Conference on Medical Information Visualisation--BioMedical Visualisation
A Study of the Attenuation in the Properties of Haptic Devices at the Limit of the Workspace
VMR '09 Proceedings of the 3rd International Conference on Virtual and Mixed Reality: Held as Part of HCI International 2009
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In the context of the optimization of the mechanical platform of a virtual reality system involving a haptic device, this paper introduces two tools in order to help the designer for obtaining the best positioning of the device respect to the application workspace. With this purpose we have defined a measure called Average Volumetric Manipulability, of how the application workspace fits in with the volume where haptic device provides its best performance. Also, we have defined other measure called Useful Manipulability which takes in account the frequency with which each zone of the application workspace is visited during the simulation process. The practical use of these measures is demonstrated using them during the design and development of a real application.