Expanding the usable workspace of a haptic device by placing it on a moving base

dc.contributor.advisor Judy M. Vance
dc.contributor.advisor Greg R. Luecke
dc.contributor.author Garlington, Isaac
dc.contributor.department Mechanical Engineering
dc.date 2018-08-11T12:52:23.000
dc.date.accessioned 2020-06-30T02:44:39Z
dc.date.available 2020-06-30T02:44:39Z
dc.date.copyright Sun Jan 01 00:00:00 UTC 2012
dc.date.embargo 2013-06-05
dc.date.issued 2012-01-01
dc.description.abstract <p>The goal of this research is to expand the reachable workspace of a haptic device when used in a projection screen virtual environment. The proposed method includes supplementing the haptic device with a redundant degree of freedom to provide motion of the base. The key research challenge is to develop controls for the mobile base that will keep the haptic end-effector in the usable haptic workspace at all times. An experimental set up consisting of an Omni haptic device and a XY motorized table was used in the development of the control algorithms. Tests were conducted which demonstrate that the force felt by the user when touching a virtual wall remains constant even when the mobile base is moving to re-center the haptic device in the usable haptic workspace. </p>
dc.format.mimetype application/pdf
dc.identifier archive/lib.dr.iastate.edu/etd/12715/
dc.identifier.articleid 3722
dc.identifier.contextkey 4186473
dc.identifier.doi https://doi.org/10.31274/etd-180810-2736
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath etd/12715
dc.identifier.uri https://dr.lib.iastate.edu/handle/20.500.12876/26904
dc.language.iso en
dc.source.bitstream archive/lib.dr.iastate.edu/etd/12715/Garlington_iastate_0097M_12964.pdf|||Fri Jan 14 19:28:27 UTC 2022
dc.subject.disciplines Mechanical Engineering
dc.subject.keywords Haptic Workspace
dc.subject.keywords Large-Scale Haptics
dc.subject.keywords Virtual environment
dc.title Expanding the usable workspace of a haptic device by placing it on a moving base
dc.type article
dc.type.genre thesis
dspace.entity.type Publication
relation.isOrgUnitOfPublication 6d38ab0f-8cc2-4ad3-90b1-67a60c5a6f59
thesis.degree.level thesis
thesis.degree.name Master of Science
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