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This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation.  The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. Only a careful selection of different kinematic configurations is shown to introduce the reader into this field. Mathematical models of virtual environment, collision detection and force rendering topics are strongly interrelated and are described in the next two chapters. The interaction with the virtual environment is simulated with a haptic interface. Impedance and admittance based approaches to haptic robot control are presented. Stability issues of haptic interaction are analyzed in details and solutions are proposed for guaranteeing stable and safe operation. Finally, haptic interaction is extended to teleoperation systems. Virtual fixtures which improve the teleoperation and human-robot cooperation in complex environments are covered next and the last chapter presents nanomanipulation as one specific example of teleoperation.

Human-computer interaction. --- Robot vision. --- Robotics in medicine. --- Robots, Industrial. --- Robots. --- Touch. --- Virtual reality. --- Human-computer interaction --- Virtual reality --- Haptic devices --- Mechanical Engineering --- Engineering & Applied Sciences --- Mechanical Engineering - General --- Haptic devices. --- Haptic interfaces --- Haptic technology --- Engineering. --- User interfaces (Computer systems). --- Artificial intelligence. --- Robotics. --- Automation. --- Robotics and Automation. --- Artificial Intelligence (incl. Robotics). --- User Interfaces and Human Computer Interaction. --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Robotics --- Automation --- Machine theory --- AI (Artificial intelligence) --- Artificial thinking --- Electronic brains --- Intellectronics --- Intelligence, Artificial --- Intelligent machines --- Machine intelligence --- Thinking, Artificial --- Bionics --- Cognitive science --- Digital computer simulation --- Electronic data processing --- Logic machines --- Self-organizing systems --- Simulation methods --- Fifth generation computers --- Neural computers --- Interfaces, User (Computer systems) --- Human-machine systems --- Construction --- Industrial arts --- Technology --- Computer input-output equipment --- User interfaces (Computer systems) --- Computer science. --- Artificial Intelligence. --- Informatics --- Science

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As virtual reality expands from the imaginary worlds of science fiction and pervades every corner of everyday life, it is becoming increasingly important for students and professionals alike to understand the diverse aspects of this technology. This book aims to provide a comprehensive guide to the theoretical and practical elements of virtual reality, from the mathematical and technological foundations of virtual worlds to the human factors and the applications that enrich our lives: in the fields of medicine, entertainment, education and others. After providing a brief introduction to the topic, the book describes the kinematic and dynamic mathematical models of virtual worlds. It explores the many ways a computer can track and interpret human movement, then progresses through the modalities that make up a virtual world: visual, acoustic and haptic. It explores the interaction between the actual and virtual environments, as well as design principles of the latter. The book closes with an examination of different applications, focusing on augmented reality as a special case. Though the content is primarily VR-related, it is also relevant for many other fields.

Engineering. --- Computer vision. --- Engineering design. --- Computer engineering. --- Engineering Design. --- Computer Imaging, Vision, Pattern Recognition and Graphics. --- Information Systems Applications (incl. Internet). --- Electrical Engineering. --- Computer simulation --- Engineering --- Computer engineering --- Engineering design --- Civil & Environmental Engineering --- Engineering & Applied Sciences --- Civil Engineering --- Design, Engineering --- Computers --- Construction --- Computer modeling --- Computer models --- Modeling, Computer --- Models, Computer --- Simulation, Computer --- Machine vision --- Vision, Computer --- Design --- Design and construction --- Computer graphics. --- Electrical engineering. --- Industrial design --- Strains and stresses --- Artificial intelligence --- Image processing --- Pattern recognition systems --- Optical data processing. --- Application software. --- Electric engineering --- Application computer programs --- Application computer software --- Applications software --- Apps (Computer software) --- Computer software --- Optical computing --- Visual data processing --- Bionics --- Electronic data processing --- Integrated optics --- Photonics --- Optical equipment

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This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.

Electrical engineering --- Applied physical engineering --- Engineering sciences. Technology --- Artificial intelligence. Robotics. Simulation. Graphics --- Computer. Automation --- automatisering --- informatica --- ingenieurswetenschappen --- elektrotechniek --- robots

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This introductory text treats the following subjects: the basic characteristics of industrial robot mechanisms;  the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and finally, robot standards and safety are briefly dealt with. The book concludes with a glossary in English, French and German. This volume is supplementary reading for courses in robotics or industrial robotics and requires minimal knowledge of physics and mathematics.

Engineering. --- Control, Robotics, Mechatronics. --- Artificial Intelligence (incl. Robotics). --- Manufacturing, Machines, Tools. --- Mechanics. --- Artificial intelligence. --- Machinery. --- Ingénierie --- Intelligence artificielle --- Mécanique --- Machines --- Robotics --- Robotics. --- Mechanical Engineering --- Mechanical Engineering - General --- Engineering & Applied Sciences --- Robots. --- Automata --- Automatons --- Control engineering. --- Mechatronics. --- Automation. --- Manufacturing industries. --- Machines. --- Tools. --- Robotics and Automation. --- Automation --- Machine theory --- Hand tools --- Handtools --- Hardware --- Implements, utensils, etc. --- Machinery --- Manufactures --- Power (Mechanics) --- Technology --- Mechanical engineering --- Motors --- Power transmission --- Industries --- Automatic factories --- Automatic production --- Computer control --- Engineering cybernetics --- Factories --- Industrial engineering --- Mechanization --- Assembly-line methods --- Automatic control --- Automatic machinery --- CAD/CAM systems --- Microelectronics --- Microelectromechanical systems --- Control engineering --- Control equipment --- Control theory --- Engineering instruments --- Programmable controllers --- Classical mechanics --- Newtonian mechanics --- Physics --- Dynamics --- Quantum theory --- AI (Artificial intelligence) --- Artificial thinking --- Electronic brains --- Intellectronics --- Intelligence, Artificial --- Intelligent machines --- Machine intelligence --- Thinking, Artificial --- Bionics --- Cognitive science --- Digital computer simulation --- Electronic data processing --- Logic machines --- Self-organizing systems --- Simulation methods --- Fifth generation computers --- Neural computers --- Construction --- Industrial arts --- Curious devices --- Manipulators (Mechanism) --- Mecha (Vehicles)

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This introductory text treats the following subjects: the basic characteristics of industrial robot mechanisms; the pose and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanism; a short introduction into kinematics and dynamics of robots; robot sensors and the planning of robot trajectories; basic control schemes resulting in either desired end-effector trajectory or force; robot grippers and feeding devices, which are described together with the basics of robot vision; the planning of robot assembly; and finally, robot standards and safety are briefly dealt with. The book concludes with a glossary in English, French and German. This volume is supplementary reading for courses in robotics or industrial robotics and requires minimal knowledge of physics and mathematics.

Classical mechanics. Field theory --- Electrical engineering --- Applied physical engineering --- Engineering sciences. Technology --- Plant and equipment --- Production management --- Artificial intelligence. Robotics. Simulation. Graphics --- Computer. Automation --- fabrieken --- mechatronica --- superclaus proces --- industriële robots --- automatisering --- productie --- KI (kunstmatige intelligentie) --- machines --- mechanica --- robots --- automatische regeltechniek --- AI (artificiële intelligentie)