[1] Zhu Xueyun, Wu Juan,. A robot simulation system with virtual force display and feedbackbased on master manipulator [J]. Journal of Southeast University (English Edition), 2003, 19 (1): 70-73. [doi:10.3969/j.issn.1003-7985.2003.01.016]
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A robot simulation system with virtual force display and feedbackbased on master manipulator(
)
一个基于主手的力觉再现和反馈的机器人仿真系统
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 19
- Issue:
- 2003 1
- Page:
- 70-73
- Research Field:
- Automation
- Publishing date:
- 2003-03-30
Info
- Title:
- A robot simulation system with virtual force display and feedbackbased on master manipulator
- 一个基于主手的力觉再现和反馈的机器人仿真系统
- Author(s):
- Zhu Xueyun; Wu Juan
- Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
- Keywords:
- virtual reality; haptic display; contact detection; contact response
- PACS:
- TP24
- DOI:
- 10.3969/j.issn.1003-7985.2003.01.016
- Abstract:
- This paper describes a virtual environment, which can present dynamic force transformation during the control of objects. A 5-DOF haptic interface with the capability to generate kinesthetic effect is combined. In this system, the operator manipulates an object in a virtual environment by using the 5-DOF master arm. When contacting with the virtual object, the contact force can be calculated and shown in the graphic interface. The contact response and deformation of the virtual object, which are usually called haptic rendering, also can be performed. The study supplies an approach to improve the operator’s immersion and can be used in many tele-robot control fields.
- 介绍了基于5自由度力觉再现装置的虚拟力觉仿真系统的实现方法.此系统中, 操作者通过主手控制虚拟环境中的从手与虚拟物体相作用, 虚拟环境中的接触情况如碰撞响应、形变在图形界面仿真, 虚拟力通过主手装置表达.该研究有利于提高遥操作机器人的性能和增强操作者的沉浸感.
References:
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[7] Gregory A D, Mascarenhas A, Ehmann S, et al. Six degree-of-freedom haptic display of polygonal models [EB/OL]. http://www.cs.unc.edu/~geom/6DHaptics. 2000-8-19/2002-9.
[8] Kanaganathan S, Wait R. Collision handling of polyhedral objects: with an application to(parallel)mechanical pulp modeling [EB/OL]. http://www.math.utah.edu/pub/tex/bib/lncs2001b.ps.gz.1999-1-21/2002-9.
[9] Jason H. A kinematic model for collision response [D]. Stony Brook: The State University of New York, 1992.
[10] Hirota K, Hirose M. Providing force feedback in virtual environments [J]. IEEE Computer Graphics and Applications, 1995, 15(5): 22-30.
Memo
- Memo:
- Biography: Zhu Xueyun(1962—), male, senior engineer, xyz22@seu.edu.cn.