[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()

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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

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.

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.

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