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Title: Haptic-based interactive path planning for a virtual robot arm
Authors: Chen, C.J.
Ong, S.K. 
Nee, A.Y.C. 
Zhou, Y.Q.
Keywords: Path planning
Virtual assembly interaction
Virtual robot arm model
Workspace mapping
Issue Date: May-2010
Citation: Chen, C.J., Ong, S.K., Nee, A.Y.C., Zhou, Y.Q. (2010-05). Haptic-based interactive path planning for a virtual robot arm. International Journal on Interactive Design and Manufacturing 4 (2) : 113-123. ScholarBank@NUS Repository.
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. © 2010 Springer-Verlag.
Source Title: International Journal on Interactive Design and Manufacturing
ISSN: 19552513
DOI: 10.1007/s12008-010-0088-2
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