Haptic rendering of compliant motions using contact tracking in C-space
Visualitza/Obre
Estadístiques de LA Referencia / Recolecta
Inclou dades d'ús des de 2022
Cita com:
hdl:2117/563
Tipus de documentReport de recerca
Data publicació2004-10
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
This paper presents a new approach for the haptic rendering of compliant motions during the execution of virtual assembly task between simple polyhedral objects. The method, based on the task configuration space, analyzes the type of contacts that take place between objects, since this knowledge allows a better haptic rendering when face-face or edge-face contacts occur. Making use of spacial and temporal coherence, the paper presents an efficient procedure to keep track of the current contacts. This allows to comply to the hard temporal constraints of the haptic serve loop. The presented procedures are focused on the haptic rendering during the interaction between convex polyhedra.
Forma partIOC-DT-P; 2004-17
Fitxers | Descripció | Mida | Format | Visualitza |
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ROSELL 6 techReport-icra05a.pdf | 415,7Kb | Visualitza/Obre |