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This paper shows the experimental validation of the forward and inverse kinematic model (position and velocity), of the CyberForce haptic device (CHD). For trajectory tracking is used a passive control technique in operational coordinates (cartesian workspace) and its experimental results in the joint-space. The contribution in passive haptic guidance, is on virtual maze navigation with purposes of...
The position and differential kinematics, for a haptic device, represent the mathematical model that describes the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system, are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque / force relationship through the analytical Jacobian...
The human-robot physical interaction systems (HRpI), are platforms designed for the transmission of knowledge, from contact between a human kinesthetic, and a robotic device with inertial dynamic and tribological low. The dynamic of contact for the robotic system is modified to the inertial, gravitational forces and tribology (friction and mechanical vibrations); that represent uncertainty in the...
This paper presents the design and implementation of a simple fuzzy logic controller (FLC) for a DC-DC buck converter based on the PIC18F4550 microcontroller to control the lead acid battery charging voltage in solar cells applications. For cost consideration, an inexpensive 8-bit microcontroller is selected to program and implement the FLC proportionalintegral. The obtained simulation and experimental...
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