Project Robotics - March 2009 - (Page 11) sponsor advertisement BosCh sensorteCh digital triaxial aCCeleroMeter aVailaBle at digi-key from digi-key, Bosch sensortech’s BMa150 is an lga packaged triaxial, programmable low-g acceleration sensor with a digital output. offering many smart functional features and operation across a wide temperature range, the BMa150 is designed primarily for consumer and industrial market applications. providing measurement of acceleration across 3 perpendicular axes, the dedicated motion sensing circuitry in the BMa150 enables power efficient interrupt driven software. The differential capacitance principle implemented in Bosch sensortec’s accelerometers provides the market with a robust and low-power sensing solution. CLiCk here for additioNaL iNforMatioN The goal of The sysTem is ThaT The slave posiTion Tracks The masTer posiTion. VoluMe 1 11 || nuMBer 1 slave, as shown in figure 5. pXi system 1 executes a deterministic application programmed in labVieW that reads a gamma force sensor and two optical encoders from the master manipulator. The researchers use the data to determine the position of the master and then send that position to pXi system 2. pXi system 2 uses the master position as the setpoint input to a 4-khz pd (proportional-derivative) controller designed in labVieW to actuate the linear motor while reading position data from an optical encoder. The slave device encounters a physical constraint that resists its movement. The slave position is sent back to the master through udp to pXi system 1, which feeds the data to a control algorithm that determines the haptic force that should be applied to the user to communicate the presence of the physical constraint. The force is applied using actuation of the magnetorheological brakes. The goal of the system is that the slave position tracks the master position. Book and Black then improved the performance of their system by implementing a sophisticated model-based control algorithm that runs in real time to compensate for the dynamics of the master device. Black developed a differential algebraic equation solver in labVieW that calculates how the master device will respond to any set of actuation parameters. The calculated response is then fed into the controller so that it can compensate appropriately to ensure more accurate haptic feedback to the operator. The researchers have completed human trials of this haptic system and are in the process of publishing the results. Contents Viewpoint the Cutting edge for haptiC researCh Modeling CoMplex eleCtroMeChaniCal systeMs deVeloping a two-wheeled self-BalanCing transport platforM home page product training Module online ordering suppliers Catalog http://ad.doubleclick.net/clk;212402653;32989198;n?http://dkc1.digikey.com/us/en/ph/Bosch/BMA150.html http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212422364;32989198;o?http://search.digikey.com/scripts/DkSearch/dksus.dll?lang=en&site=US&keywords=robotics http://ad.doubleclick.net/clk;212362954;32989198;w?http://www.digikey.com http://ad.doubleclick.net/clk;212363051;32989198;l?http://digikey.com/PTM/PTMMaster.page?site=us&lang=en http://ad.doubleclick.net/clk;212363300;32989198;i?http://ordering.digikey.com/ordering/addpart.aspx?site=US&source=search http://ad.doubleclick.net/clk;212363091;32989198;p?http://digikey.com/Suppliers/SupplierIndex.page?site=us&lang=en http://ad.doubleclick.net/clk;212363309;32989198;r?http://dkc1.digikey.com/us/en/pdf/Current.html
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