Please use this identifier to cite or link to this item: https://doi.org/10.1007/s12008-010-0088-2
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dc.titleHaptic-based interactive path planning for a virtual robot arm
dc.contributor.authorChen, C.J.
dc.contributor.authorOng, S.K.
dc.contributor.authorNee, A.Y.C.
dc.contributor.authorZhou, Y.Q.
dc.date.accessioned2014-06-17T06:23:06Z
dc.date.available2014-06-17T06:23:06Z
dc.date.issued2010-05
dc.identifier.citationChen, 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
dc.identifier.issn19552513
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/60429
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1007/s12008-010-0088-2
dc.sourceScopus
dc.subjectPath planning
dc.subjectVirtual assembly interaction
dc.subjectVirtual robot arm model
dc.subjectWorkspace mapping
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1007/s12008-010-0088-2
dc.description.sourcetitleInternational Journal on Interactive Design and Manufacturing
dc.description.volume4
dc.description.issue2
dc.description.page113-123
dc.identifier.isiut000219967500005
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