Real time haptic simulation of deformable bodies:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Düsseldorf
VDI-Verl.
2010
|
| Edition: | Als Ms. gedr. |
| Series: | Fortschritt-Berichte VDI
Reihe 20, Rechnerunterstützte Verfahren ; 428 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | VI, 120 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783183428205 |
Staff View
MARC
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| 245 | 1 | 0 | |a Real time haptic simulation of deformable bodies |c Chen Zhao |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Düsseldorf |b VDI-Verl. |c 2010 | |
| 300 | |a VI, 120 S. |b Ill., graph. Darst. |c 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Fortschritt-Berichte VDI : Reihe 20, Rechnerunterstützte Verfahren |v 428 | |
| 502 | |a Zugl.: München, Techn. Univ., Diss., 2010 | ||
| 650 | 0 | 7 | |a Handhabung |0 (DE-588)4376596-8 |2 gnd |9 rswk-swf |
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-020503287 | ||
Record in the Search Index
| _version_ | 1804143170385084416 |
|---|---|
| adam_text | 5.2.3. LOCATION SAMPLE CLASSIFICATION 52 CONTENTS 1. INTRODUCTION 1 1.1.
HAPTICS 1 1.2. CONTACT MODEL MID HAPTIC SIMULATION 4 1.3. OBJECTIVES AND
ORGANIZATIONS 7 2. GEOMETRIC MODELING 10 2.1. GEOMETRIC MEASUREMENT 10
2.2. SURFACE RECONSTRUCTION 11 2.2.1. VORONOI DIAGRAM 13 2.2.2. DCLAUNAY
TRIANGULATION 14 2.2.3. POWER CRUST 15 2.3. MESLI GENERATION 15 2.4.
CONTACT DETECTION 10 3. MODELING OF SOLID MATERIAL 20 3.1. CONSTITUTIVE
EQUATION 20 3.1.1. LINEAR ELASTIC MATERIAL 21 3.1.2. LINEAR VISCOUS
MATERIAL 22 3.1.3. LINEAR VISCOELASTIC MATERIAL 22 3.2. FINITE ELEMENT
METHOD 25 3.2.1. BASIC CONCEPT 25 3.2.2. BOUNDARY CONDITIONS 27 3.3.
LINEAR ELASTIC MODEL 28 3.4. LINEAR VISCOELASTIC MODEL 30 3.5.
INHOUIOGENCOUS MODEL 32 4. CONTACT FORCE EVALUATION 36 4.1. FINITE
ELEMENT EVALUATION 36 4.1.1. CONJUGATE GRADIENT METHOD 35 4.1.2.
PRACTICAL IMPLEMENTATION 38 4.2. HAPTIC RENDERING 40 4.3. ANALYTICAL
CONTACT FORCE MODEL 40 4.4. DATA FUSION ALGORITHMS 42 4.4.1. EXTENDED
KAIMAN FILTER 44 4.4.2. EXAMPLE 4FI 5. MODEL IDENTIFICATION 48 5.1.
PROBLEM STATEMENT 48 5.2. MODEL LEARNING 48 5.2.1. LOCATION SAMPLE
ESTIMATION 4!) 5.2.2. PREPROCESSING 51 BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/1003511708 DIGITALISIERT DURCH VI CONTENTS 5.2.4.
MATERIAL REGION ESTIMATION 55 5.3. MODEL PARAMETER OPTIMIZATION 57
5.3.1. OPTIMIZATION PROBLEM 58 5.3.2. GAUSS-NEWTON METHOD 58 5.3.3.
GLOBAL OPTIMIZATION ALGORITHM 61 5.4. IMPLEMENTATION OF MODEL
IDENTIFICATION 62 5.4.1. LINEAR ELASTIC MODEL IDENTIFICATION 63 5.4.2.
VISCOELASTIC MODEL IDENTIFICATION 63 5.4.3. INHOMOGENEOUS MODEL
IDENTIFICATION 64 5.4.4. ANALYTICAL CONTACT FORCE MODEL 66 5.4.5.
EXTENDED KAIMAN FILTER 68 5.5. ADAPTIVE MODEL IDENTIFICATION 69 5.6.
MODEL VERIFICATION AND UPDATE 71 6. EXPERIMENTS AND SIMULATIONS 73 6.1.
EXPERIMENTAL SYSTEM 73 6.1.1. EXPERIMENTAL ROBOT 73 6.1.2. ROBOT
KINEMATICS 75 6.1.3. COMMUNICATION 79 6.2. VIRTUAL REALITY 79 6.3.
POLYURETHANE 86 6.3.1. LINEAR MODEL 86 6.3.2. VISEOELASTIC MODEL 87 6.4.
INHOMOGENEOUS MATERIAL 88 6.4.1. MODELING 89 6.4.2. RESULTS 90 6.5.
TELEROBOTIC OPERATION 91 6.5.1. PROBLEM STATEMENT 91 6.5.2. TELEPRESENCE
SCENARIO 92 6.5.3. MODELING 96 6.5.4. RESULTS 97 6.6. ANIMAL TISSUE 99
6.6.1. PROBLEM STATEMENT 99 6.6.2. EXPERIMENTAL SETTING 99 6.6.3.
MODELING 99 6.6.4. RESULTS 102 7. CONCLUSION 105 A. APPENDIX 107 A.I.
QR-DECOIUPOSITION 107 A.2. ROBOTIC END EFFECTOR 108 A.3. MATERIAL VALUE
IN SECTION 6.2 108 BIBLIOGRAPH
|
| any_adam_object | 1 |
| author | Zhao, Chen 1979- |
| author_GND | (DE-588)141094990 |
| author_facet | Zhao, Chen 1979- |
| author_role | aut |
| author_sort | Zhao, Chen 1979- |
| author_variant | c z cz |
| building | Verbundindex |
| bvnumber | BV036582400 |
| classification_rvk | ST 340 |
| classification_tum | DAT 269d TEC 980d |
| ctrlnum | (OCoLC)669170561 (DE-599)BVBBV036582400 |
| dewey-full | 620.00113 629.8933 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 620 - Engineering and allied operations 629 - Other branches of engineering |
| dewey-raw | 620.00113 629.8933 |
| dewey-search | 620.00113 629.8933 |
| dewey-sort | 3620.00113 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Technik Informatik Arbeitswissenschaften Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV036582400 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:43:24Z |
| institution | BVB |
| isbn | 9783183428205 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020503287 |
| oclc_num | 669170561 |
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| owner | DE-210 DE-83 DE-91G DE-BY-TUM |
| owner_facet | DE-210 DE-83 DE-91G DE-BY-TUM |
| physical | VI, 120 S. Ill., graph. Darst. 21 cm |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | VDI-Verl. |
| record_format | marc |
| series | Fortschritt-Berichte VDI |
| series2 | Fortschritt-Berichte VDI : Reihe 20, Rechnerunterstützte Verfahren |
| spelling | Zhao, Chen 1979- Verfasser (DE-588)141094990 aut Real time haptic simulation of deformable bodies Chen Zhao Als Ms. gedr. Düsseldorf VDI-Verl. 2010 VI, 120 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Fortschritt-Berichte VDI : Reihe 20, Rechnerunterstützte Verfahren 428 Zugl.: München, Techn. Univ., Diss., 2010 Handhabung (DE-588)4376596-8 gnd rswk-swf Deformierbares Objekt (DE-588)4759756-2 gnd rswk-swf Echtzeitsimulation (DE-588)4328790-6 gnd rswk-swf Tastwahrnehmung (DE-588)4184494-4 gnd rswk-swf Finite-Elemente-Methode (DE-588)4017233-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Deformierbares Objekt (DE-588)4759756-2 s Handhabung (DE-588)4376596-8 s Tastwahrnehmung (DE-588)4184494-4 s Echtzeitsimulation (DE-588)4328790-6 s Finite-Elemente-Methode (DE-588)4017233-8 s DE-604 Fortschritt-Berichte VDI Reihe 20, Rechnerunterstützte Verfahren ; 428 (DE-604)BV021786833 428 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020503287&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Zhao, Chen 1979- Real time haptic simulation of deformable bodies Fortschritt-Berichte VDI Handhabung (DE-588)4376596-8 gnd Deformierbares Objekt (DE-588)4759756-2 gnd Echtzeitsimulation (DE-588)4328790-6 gnd Tastwahrnehmung (DE-588)4184494-4 gnd Finite-Elemente-Methode (DE-588)4017233-8 gnd |
| subject_GND | (DE-588)4376596-8 (DE-588)4759756-2 (DE-588)4328790-6 (DE-588)4184494-4 (DE-588)4017233-8 (DE-588)4113937-9 |
| title | Real time haptic simulation of deformable bodies |
| title_auth | Real time haptic simulation of deformable bodies |
| title_exact_search | Real time haptic simulation of deformable bodies |
| title_full | Real time haptic simulation of deformable bodies Chen Zhao |
| title_fullStr | Real time haptic simulation of deformable bodies Chen Zhao |
| title_full_unstemmed | Real time haptic simulation of deformable bodies Chen Zhao |
| title_short | Real time haptic simulation of deformable bodies |
| title_sort | real time haptic simulation of deformable bodies |
| topic | Handhabung (DE-588)4376596-8 gnd Deformierbares Objekt (DE-588)4759756-2 gnd Echtzeitsimulation (DE-588)4328790-6 gnd Tastwahrnehmung (DE-588)4184494-4 gnd Finite-Elemente-Methode (DE-588)4017233-8 gnd |
| topic_facet | Handhabung Deformierbares Objekt Echtzeitsimulation Tastwahrnehmung Finite-Elemente-Methode Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020503287&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV021786833 |
| work_keys_str_mv | AT zhaochen realtimehapticsimulationofdeformablebodies |