|Table of Contents|

[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]
Copy

A robot simulation system with virtual force display and feedbackbased on master manipulator()
Share:

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:

[1] Avizzano C A, Catte S, Tecchia F, et al. Interactive collision detection for deformable objects in virtual environments[A]. In: Proceedings of the 1999 IEEE International Workshop on Robot and Human Interaction[C]. 1999. 59-64.
[2] Metaxas D, Terzopoulos D. Dynamic deformation of solid primitives with constraints [J]. Proceedings of SIGGRAPH 92 Computer Graphics Proceedings, 1992, 26(2): 309-312.
[3] Baraff D. Analytical methods for dynamic simulation of non-penetrating rigid bodies [J]. ACM Proceedings of SIGGRARAPH 1989, Computer Graphics, 1989, 23(3): 223-232.
[4] Kotoku T, Komoriya K, Tanie K. A force display system for virtual environments and its evaluation[A]. In: IEEE International Workshop on Robot and Human Communication[C]. Tokyo, Japan, 1992. 246-251.
[5] Baraff D, Witkin A. Global methods for simulating flexible bodies[A]. In: Computer Animation Proc[C]. Springer-Verlag, 1994. 1-12.
[6] Hubbard P M. Collision detection for interactive graphics applications [J]. IEEE Transactions on Visualization and Computer Graphics, 1995, 1(3): 218-230.
[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.
Last Update: 2003-03-20