Collision/Contact Models for Dynamic Simulation and Haptic Interaction
Collision/Contact Models for Dynamic Simulation and Haptic Interaction
复制标题
用于动态模拟和触觉交互的碰撞/接触模型
DOI：
10.1007/978-1-4471-0765-1_23
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
O. Khatib
中科院分区：
文献类型：
--
作者：
D. Ruspini;O. Khatib
在本文中，我们提出了一个用于复杂虚拟环境的动态仿真和触觉探索的一般框架。这项工作建立在模拟、触觉和操作空间控制方面的先前发展基础上。本文还介绍了仿真中使用的动力学模型与机器人控制模型之间的关系。该框架已被用于开发模拟器，该模拟器可以模拟广义铰接机械系统之间的复杂交互，并允许通过触觉界面与虚拟环境直接“动手”交互。
In this paper we present a general framework for the dynamic simulation and haptic exploration of complex virtual environments. This work builds on previous developments in simulation, haptics, and operational space control. The relations between the dynamic models used in simulation and the models originally developed for robotic control are also presented. This framework has been used to develop a simulator that can model complex interaction between generalized articulated mechanical systems and permit direct “hands-on” interaction with the virtual environment through a haptic interface.