A Framework for the Simulation and Haptic Display of Dynamic Systems Subject to Holonomic Constraints
A Framework for the Simulation and Haptic Display of Dynamic Systems Subject to Holonomic Constraints
复制标题
受完整约束的动态系统的仿真和触觉显示框架
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
E. Faulring
中科院分区：
文献类型：
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作者：
Adolfo Rodriguez;L. Basañez;J. Colgate;E. Faulring
在本文中，我们提出了一个框架，使操作员的触觉和视觉上的互动与虚拟完整约束的模拟动态环境。该框架结合了几何约束求解器与约束动力学仿真引擎，控制导纳型触觉显示。该系统在辅助遥控任务的背景下，从提供一个直观的界面，用于创建和组合虚拟约束，触觉显示刚性运动约束在模拟环境中所需的惯性动力学的相关问题。两个实验进行了使用Cobotic手控制器的触觉显示。
In this paper we present a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.