A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Haptic-based interactive path planning for a virtual robot arm
Abstract In this paper, based on the structural similarity between the PHANToM haptic device and a six-DOF (Degrees of Freedom) articulated robot arm, a six-DOF virtual robot arm driven by the PHANToM device is modeled. In order to enable the virtual robot arm to haptically interact with virtual prototypes in a virtual assembly (VA) environment, a workspace mapping method based on robot kinematics analysis is proposed. The haptic-based virtual robot arm is used in interactive modeling in free path planning and constraint-based assembly path planning operations in the VA system. In both planning processes, the user can interactively edit an assembly path with the guiding forces as feedback. Lastly, A few experiments have been conducted to verify the effectiveness of the proposed methods. The haptic-based virtual robot arm presented in this paper provides a new human-computer interaction method for a VA system.
Haptic-based interactive path planning for a virtual robot arm
Abstract In this paper, based on the structural similarity between the PHANToM haptic device and a six-DOF (Degrees of Freedom) articulated robot arm, a six-DOF virtual robot arm driven by the PHANToM device is modeled. In order to enable the virtual robot arm to haptically interact with virtual prototypes in a virtual assembly (VA) environment, a workspace mapping method based on robot kinematics analysis is proposed. The haptic-based virtual robot arm is used in interactive modeling in free path planning and constraint-based assembly path planning operations in the VA system. In both planning processes, the user can interactively edit an assembly path with the guiding forces as feedback. Lastly, A few experiments have been conducted to verify the effectiveness of the proposed methods. The haptic-based virtual robot arm presented in this paper provides a new human-computer interaction method for a VA system.
Haptic-based interactive path planning for a virtual robot arm
Chen, C. J. (author) / Ong, S. K. (author) / Nee, A. Y. C. (author) / Zhou, Y. Q. (author)
2010-03-25
11 pages
Article (Journal)
Electronic Resource
English
Haptic-based interactive path planning for a virtual robot arm
| Springer Verlag | 2010
Erratum to: Haptic-based interactive path planning for a virtual robot arm
| Springer Verlag | 2011
Inspection path generation in haptic virtual CMM
| British Library Conference Proceedings | 2005
Haptic Learning - Towards Neural-Network-based adaptive Cobot Path-Planning for unstructured spaces
| TIBKAT | 2019