Interactive simulation of CAD models assemblies using virtual constraint guidance: A new method to assist haptic assembly tasks
Identifieur interne : 000588 ( France/Analysis ); précédent : 000587; suivant : 000589Interactive simulation of CAD models assemblies using virtual constraint guidance: A new method to assist haptic assembly tasks
Auteurs : Loïc Tching [France] ; Georges Dumont [France] ; Jérôme Perret [France]Source :
- IJIDeM [ 1955-2513 ] ; 2010.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Réalité virtuelle.
English descriptors
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Abstract
In the context of virtual reality (VR) and of computed aided design (CAD), haptic simulations are used to perform assembly tasks between 3D objects. To ensure the good assembly of those objects, we propose a new method of interactive assembly that uses both kinematic constraints and guiding virtual fixtures. Modelling a haptic assembly task as a combination of mechanical joints, we focus on the guidance of objects and on the activation cues of kinematic constraints in physical simulation. In this article, we first outline the difficulties related to the haptic-assembly of CAD objects in VR simulation. Introducing the virtual constraint guidance (VCG), we present a new method for haptic guidance that decomposes a task in two independent steps: a guiding step which use geometries as virtual fixtures to position objects, and a functional step which use kinematic constraints to perform the assembly task. We finally present a complete application of our method on a peg-in-hole insertion task.
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Pascal:10-0264911Le document en format XML
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Tching</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Haption, IRISA Bunraku (INRIA joint team)</s1><s2>Rennes</s2><s3>FRA</s3><sZ>1 aut.</sZ></inist:fA14><country>France</country><placeName><settlement type="city">Rennes</settlement></placeName></affiliation></author><author><name sortKey="Dumont, Georges" sort="Dumont, Georges" uniqKey="Dumont G" first="Georges" last="Dumont">Georges Dumont</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>ENS Cachan, IRISA Bunraku (INRIA joint team)</s1><s2>Rennes</s2><s3>FRA</s3><sZ>2 aut.</sZ></inist:fA14><country>France</country><placeName><settlement type="city">Rennes</settlement></placeName></affiliation></author><author><name sortKey="Perret, Jerome" sort="Perret, Jerome" uniqKey="Perret J" first="Jérôme" last="Perret">Jérôme Perret</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>Haption</s1><s2>Soulgé-sur-Ouette</s2><s3>FRA</s3><sZ>3 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assistée</term><term>Montage</term><term>Guidage</term><term>Sensibilité tactile</term><term>Réalité virtuelle</term><term>Cheville (composant mécanique)</term><term>Insertion</term><term>Bridage</term><term>Porte pièce</term><term>Assemblage mécanique</term><term>Modélisation</term><term>Cinématique</term><term>.</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Réalité virtuelle</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In the context of virtual reality (VR) and of computed aided design (CAD), haptic simulations are used to perform assembly tasks between 3D objects. To ensure the good assembly of those objects, we propose a new method of interactive assembly that uses both kinematic constraints and guiding virtual fixtures. Modelling a haptic assembly task as a combination of mechanical joints, we focus on the guidance of objects and on the activation cues of kinematic constraints in physical simulation. In this article, we first outline the difficulties related to the haptic-assembly of CAD objects in VR simulation. Introducing the virtual constraint guidance (VCG), we present a new method for haptic guidance that decomposes a task in two independent steps: a guiding step which use geometries as virtual fixtures to position objects, and a functional step which use kinematic constraints to perform the assembly task. We finally present a complete application of our method on a peg-in-hole insertion task.</div></front></TEI><affiliations><list><country><li>France</li></country><settlement><li>Rennes</li></settlement></list><tree><country name="France"><noRegion><name sortKey="Tching, Loic" sort="Tching, Loic" uniqKey="Tching L" first="Loïc" last="Tching">Loïc Tching</name></noRegion><name sortKey="Dumont, Georges" sort="Dumont, Georges" uniqKey="Dumont G" first="Georges" last="Dumont">Georges Dumont</name><name sortKey="Perret, Jerome" sort="Perret, Jerome" uniqKey="Perret J" first="Jérôme" last="Perret">Jérôme Perret</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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