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Desktop Haptic Virtual Assembly

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   

  • Online:2015-04-30 Published:2015-03-30

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Abstract: Since the workspace of PHANToM Desktop is not big enough, an improved
method of dynamic space matching and a viewpoint navigation technique whenever the proxy
moving outside the frustum are proposed in this paper. Firstly, the three-dimensional space
matching is considered when the device space is matched with the view frustum, so that a high
operating precision near the viewpoint and a large visual range at the far viewpoint area is
implemented. Then the workspace outside the mapping area in device space is elaborately utilized
for viewpoint navigation, so the bigger visual range can be obtained. During the virtual assembly
process, the contact force computed real-time can be applied to perceive the shape and hardness of
virtual objects for users. Additionally, the constraint force generated according to mass-spring
model can be used to locate parts.

Key words: virtual assembly, haptic manipulator, dynamic space matching, navigation;
contact force, constraint force