By Dangxiao Wang, Jing Xiao, Yuru Zhang
This e-book introduces the newest growth in six levels of freedom (6-DoF) haptic rendering with the point of interest on a brand new technique for simulating force/torque suggestions in appearing projects that require dexterous manipulation abilities. one of many significant demanding situations in 6-DoF haptic rendering is to unravel the clash among excessive velocity and excessive constancy necessities, specifically in simulating a device interacting with either inflexible and deformable gadgets in a slim area and with fantastic positive aspects. The e-book provides a configuration-based optimization method of take on this problem. Addressing a key factor in lots of VR-based simulation platforms, the publication might be of specific curiosity to researchers and pros within the components of surgical simulation, rehabilitation, digital meeting, and inspection and maintenance.
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Additional info for Haptic Rendering for Simulation of Fine Manipulation
The accuracy of simulation comes from the quadratic programming (QP) formulation. In contrast to previous methods, exact non-penetration between the graphic tool and the object can be maintained, without introducing numeric error caused by integration computations. Possible factors that can affect accuracy are the geometric error of using spheres to approximate an object’s shape and the error incurred in using Taylor expansion. Our experiments quantify that those two factors have negligible effects so that the method can achieve high accuracy.
Furthermore, some constraints can be missed when the haptic tool is fully penetrated into objects. As shown in Fig. , minimum energy) conﬁguration of the graphic tool may not be penetration-free, that is, the contact constraints used in the optimization are not sufﬁcient. To obtain sufﬁcient number of constraints, the brute force method will be to form a non-penetration constraint from every pair of tool-object spheres, regardless if they are intersecting or not, which is inefﬁcient. Therefore, we introduce a contact constraint-prediction (CCP) method, taking advantage of the graphic tool’s contact conﬁguration in the previous time instant t − 1 and the motion coherency of the graphic tool.
When it moves in the constrained space. The haptic tool and the graphic tool simply collocate if the haptic tool is in the free space. Thus, this method is different from the conventional “virtual coupling” method and avoids its damping effect. The computed torque is with respect to a ﬁxed world coordinate system W, and thus the torque computation procedure involves several coordinate transformations in a haptic simulation time step t, as described below: 1. Obtain the homogeneous transformation matrix of the haptic tool and its Euler angles with respect to the W.
Haptic Rendering for Simulation of Fine Manipulation by Dangxiao Wang, Jing Xiao, Yuru Zhang