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VGU RESEARCH REPOSITORY


Please use this identifier to cite or link to this item: https://epub.vgu.edu.vn/handle/dlibvgu/64
DC FieldValueLanguage
dc.contributor.authorNgoc Diep Nguyenen_US
dc.contributor.authorSy Dzung Nguyenen_US
dc.contributor.authorNgoc Tuyen Nguyenen_US
dc.contributor.authorNguyen Quoc Hungen_US
dc.date.accessioned2020-03-12T16:54:11Z-
dc.date.available2020-03-12T16:54:11Z-
dc.date.issued2018-
dc.identifier.urihttp://epub.vgu.edu.vn/handle/dlibvgu/64-
dc.description.abstractThis research focuses on design, manufacturing and testing of a 3-DOF haptic telemanipulator system featuring MR brakes and torque estimator of AC servomotors. The haptic telemanipulators are composed of a slave manipulator and a haptic master manipulator. The slave manipulator is a commercial industrial robot with three-rotary DOF (elbow manipulator). The haptic master manipulator is designed with the same kinematic chain and kinematic dimensions as the slave. At the joints of the master, MR brakes are integrated in order to generate braking torques corresponding to the torques estimated from the servomotors of the slave. With this configuration, a desired force acting on the operator of the master slave, which is proportional to the load at the end-effecter of the slave can be archived. After the introduction, design and simulation of the proposed haptic telemanipulator system, experimental work is conducted and some experimental results are obtained and presented with discussion.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofseriesAdvances in Intelligent Systems and Computing;Vol.868-
dc.subjectTelemanipulatoren_US
dc.subjectHapticsen_US
dc.subjectMagnetorheological fluid (MRF)en_US
dc.subjectMR brakeen_US
dc.subjectAC motor torque estimationen_US
dc.titleDevelopment of a haptic telemanipulator system based on MR brakes and estimated torques of AC servo motorsen_US
dc.typeArticleen_US
dc.identifier.doi10.1007/978-3-030-01054-6_65-
dc.relation.journaltypeScopus Q3en_US
item.languageiso639-1other-
item.grantfulltextnone-
item.fulltextNo Fulltext-
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