Abstract: In order to solve the problem of sudden change of components position and orientation
during conventional assembly allocation navigation, an algorithm based on linear interpolation and
spherical linear interpolation is proposed. A method of admittance control mode is presented to solve the
problem of control signal separation after assembly allocation navigation. During assembly motion
navigation, force sensing constraint models are created to meet the requirement of feedback force in
virtual assembly. The Bullet physics engine is integrated into virtual assembly system for physical
simulation. A virtual assembly process combining geometric constraint with physically-based techniques
is given and implemented in the virtual assembly prototype system.

Key words: interpolation method, admittance control, force sensing constraint model, virtual assembly;
physics engine