欢迎访问《图学学报》
分享到：
摘 要：针对PHANToM Desktop 力反馈器工作空间狭小的问题，提出改进的动态#br# 空间匹配算法和代理点移出视锥体时的漫游技术。首先分析设备工作空间在三维方向与视锥#br# 体的匹配关系，通过对x、y 和z 轴方向进行空间匹配，实现近视点处操作精度高和远视点#br# 处可视范围大；然后利用映射区外的工作空间进行视点漫游，可以扩展虚拟装配可视范围。#br# 在虚拟装配过程中，实时地计算代理点与零件间的接触力，并反馈给用户，使用户可以感知#br# 零件的几何外形与硬度特性等；同时采取弹簧质点模型计算约束力引导用户进行装配定位。#br# 关 键 词：虚拟装配；力反馈器；动态空间匹配；漫游；接触力；约束力
Abstract: Since the workspace of PHANToM Desktop is not big enough, an improved#br# method of dynamic space matching and a viewpoint navigation technique whenever the proxy#br# moving outside the frustum are proposed in this paper. Firstly, the three-dimensional space#br# matching is considered when the device space is matched with the view frustum, so that a high#br# operating precision near the viewpoint and a large visual range at the far viewpoint area is#br# implemented. Then the workspace outside the mapping area in device space is elaborately utilized#br# for viewpoint navigation, so the bigger visual range can be obtained. During the virtual assembly#br# process, the contact force computed real-time can be applied to perceive the shape and hardness of#br# virtual objects for users. Additionally, the constraint force generated according to mass-spring#br# model can be used to locate parts.#br# Key words: virtual assembly; haptic manipulator; dynamic space matching; navigation;#br# contact force; constraint force
摘要： ：针对PHANToM Desktop 力反馈器工作空间狭小的问题，提出改进的动态
空间匹配算法和代理点移出视锥体时的漫游技术。首先分析设备工作空间在三维方向与视锥
体的匹配关系，通过对x、y 和z 轴方向进行空间匹配，实现近视点处操作精度高和远视点
处可视范围大；然后利用映射区外的工作空间进行视点漫游，可以扩展虚拟装配可视范围。
在虚拟装配过程中，实时地计算代理点与零件间的接触力，并反馈给用户，使用户可以感知
零件的几何外形与硬度特性等；同时采取弹簧质点模型计算约束力引导用户进行装配定位。
