Haptic-based interactive path planning for a virtual robot arm

被引：23
作者：
Chen, C. J. [1 ]
Ong, S. K. [2 ]
Nee, A. Y. C. [2 ]
Zhou, Y. Q. [3 ]
机构：
[1] Qingdao Technol Univ, Qingdao, Shandong, Peoples R China
[2] Natl Univ Singapore, Fac Engn, Dept Mech Engn, 9 Engn Dr 1, Singapore 117576, Singapore
[3] Shandong Univ, Jinan, Shandong, Peoples R China
来源：
INTERNATIONAL JOURNAL OF INTERACTIVE DESIGN AND MANUFACTURING - IJIDEM | 2010年 / 4卷 / 02期
关键词：
Virtual assembly interaction; Virtual robot arm model; Workspace mapping; Path planning;
D O I：
10.1007/s12008-010-0088-2
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
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.
引用
收藏
页码：113 / 123
页数：11
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