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https://doi.org/10.1007/s12008-010-0088-2
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. https://doi.org/10.1007/s12008-010-0088-2 | 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/60429 | ISSN: | 19552513 | DOI: | 10.1007/s12008-010-0088-2 |
Appears in Collections: | Staff Publications |
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