Assembly simulation using haptic devices
Identifieur interne : 000C05 ( Main/Exploration ); précédent : 000C04; suivant : 000C06Assembly simulation using haptic devices
Auteurs : Robert Iacob [Roumanie] ; Diana Popescu [Roumanie] ; Frédéric Noël [France] ; Louis Thibault [France] ; Peter Mitrouchev [France] ; Larcher Aurélie [France]Source :
English descriptors
- mix :
Abstract
Optimization and realistic simulation of the Assembly and Disassembly (A/D) process represent important research topics considering the role played by these operations throughout the Product Life-Cycle (PLC), from the design stage and up to the recycling at the end-of-life of a product. Although there are numerous studies in this field, many aspects are not yet completely developed or validated.In recent years, Virtual Reality (VR) technology has evolved to new levels of complexity and integration. Now it combines several Human-Computer Interfaces (HCIs) in order to provide users various haptic sensations and to enable them becoming more immersed in the Virtual Environment (VE). Thus, VEs are starting to be frequently used in simulating operations from different domains of activity, among which the A/D process represents a key research area. Many of these applications are currently using haptic feedback and are facing significant difficulties in simulating some detailed operations – e.g. assembly components’ insertion/extraction.After a review of existing haptic devices and immersive simulation platforms, the main purpose of this research is to improve the A/D process simulation by proposing a new method and associated tools and better integration with commercial haptic devices. To this end, the first objective is to evaluate the impact of a mobility module, based on predefined kinematic constraints between components, able to guide user’s movements when simulating A/D operations. This can be achieved through an intelligent management of the assembly components relative mobilities in contact situations. The second objective is to find out if the proposed approach can be integrated with a new moderate cost haptic system: hardware plus software, for industrial use. In this sense, a comparative analysis of the simulation quality provided by two haptic devices is proposed.
Url:
Affiliations:
- France, Roumanie
- Auvergne-Rhône-Alpes, Rhône-Alpes
- Grenoble
- Université Joseph Fourier, Université de Grenoble
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000078
- to stream Hal, to step Curation: 000078
- to stream Hal, to step Checkpoint: 000056
- to stream Main, to step Merge: 000C06
- to stream Main, to step Curation: 000C05
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Assembly simulation using haptic devices</title><author><name sortKey="Iacob, Robert" sort="Iacob, Robert" uniqKey="Iacob R" first="Robert" last="Iacob">Robert Iacob</name><affiliation wicri:level="1"><hal:affiliation type="institution" xml:id="struct-204332" status="VALID"><orgName>University Politehnica of Bucharest [Bucharest]</orgName><desc><address><addrLine>Splaiul Independentei nr. 313, sector 6, Bucuresti</addrLine><country key="RO"></country></address><ref type="url">http://www.upb.ro/en/</ref></desc></hal:affiliation><country>Roumanie</country></affiliation></author><author><name sortKey="Popescu, Diana" sort="Popescu, Diana" uniqKey="Popescu D" first="Diana" last="Popescu">Diana Popescu</name><affiliation wicri:level="1"><hal:affiliation type="institution" xml:id="struct-204332" status="VALID"><orgName>University Politehnica of Bucharest [Bucharest]</orgName><desc><address><addrLine>Splaiul Independentei nr. 313, sector 6, Bucuresti</addrLine><country key="RO"></country></address><ref type="url">http://www.upb.ro/en/</ref></desc></hal:affiliation><country>Roumanie</country></affiliation></author><author><name sortKey="Noel, Frederic" sort="Noel, Frederic" uniqKey="Noel F" first="Frédéric" last="Noël">Frédéric Noël</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Thibault, Louis" sort="Thibault, Louis" uniqKey="Thibault L" first="Louis" last="Thibault">Louis Thibault</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Mitrouchev, Peter" sort="Mitrouchev, Peter" uniqKey="Mitrouchev P" first="Peter" last="Mitrouchev">Peter Mitrouchev</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Aurelie, Larcher" sort="Aurelie, Larcher" uniqKey="Aurelie L" first="Larcher" last="Aurélie">Larcher Aurélie</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:hal-01176748</idno><idno type="halId">hal-01176748</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-01176748</idno><idno type="url">https://hal.archives-ouvertes.fr/hal-01176748</idno><date when="2014-09-27">2014-09-27</date><idno type="wicri:Area/Hal/Corpus">000078</idno><idno type="wicri:Area/Hal/Curation">000078</idno><idno type="wicri:Area/Hal/Checkpoint">000056</idno><idno type="wicri:Area/Main/Merge">000C06</idno><idno type="wicri:Area/Main/Curation">000C05</idno><idno type="wicri:Area/Main/Exploration">000C05</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Assembly simulation using haptic devices</title><author><name sortKey="Iacob, Robert" sort="Iacob, Robert" uniqKey="Iacob R" first="Robert" last="Iacob">Robert Iacob</name><affiliation wicri:level="1"><hal:affiliation type="institution" xml:id="struct-204332" status="VALID"><orgName>University Politehnica of Bucharest [Bucharest]</orgName><desc><address><addrLine>Splaiul Independentei nr. 313, sector 6, Bucuresti</addrLine><country key="RO"></country></address><ref type="url">http://www.upb.ro/en/</ref></desc></hal:affiliation><country>Roumanie</country></affiliation></author><author><name sortKey="Popescu, Diana" sort="Popescu, Diana" uniqKey="Popescu D" first="Diana" last="Popescu">Diana Popescu</name><affiliation wicri:level="1"><hal:affiliation type="institution" xml:id="struct-204332" status="VALID"><orgName>University Politehnica of Bucharest [Bucharest]</orgName><desc><address><addrLine>Splaiul Independentei nr. 313, sector 6, Bucuresti</addrLine><country key="RO"></country></address><ref type="url">http://www.upb.ro/en/</ref></desc></hal:affiliation><country>Roumanie</country></affiliation></author><author><name sortKey="Noel, Frederic" sort="Noel, Frederic" uniqKey="Noel F" first="Frédéric" last="Noël">Frédéric Noël</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Thibault, Louis" sort="Thibault, Louis" uniqKey="Thibault L" first="Louis" last="Thibault">Louis Thibault</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Mitrouchev, Peter" sort="Mitrouchev, Peter" uniqKey="Mitrouchev P" first="Peter" last="Mitrouchev">Peter Mitrouchev</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author><author><name sortKey="Aurelie, Larcher" sort="Aurelie, Larcher" uniqKey="Aurelie L" first="Larcher" last="Aurélie">Larcher Aurélie</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415846" status="VALID"><orgName>SIREP</orgName><orgName type="acronym">G-SCOP_SIREP</orgName><desc><address><addrLine>46 Avenue Félix Viallet 38031 GRENOBLE Cedex 1</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/systeme-d-information-et-conception-robuste-des-produits/?RH=GSCOP_FR-SIREP</ref></desc><listRelation><relation active="#struct-74240" type="direct"></relation><relation active="#struct-51016" type="indirect"></relation><relation active="#struct-300275" type="indirect"></relation><relation name="UMR5272" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-74240" type="direct"><org type="laboratory" xml:id="struct-74240" status="VALID"><idno type="IdRef">120293080</idno><idno type="RNSR">200919221H</idno><orgName>Laboratoire des sciences pour la conception, l'optimisation et la production</orgName><orgName type="acronym">G-SCOP</orgName><desc><address><addrLine>GSCOPLaboratoire des Sciences pour la Conception, l'Optimisation et la Production de GrenobleUMR 527246, avenue Félix Viallet - 38031 Grenoble Cedex 1 - France</addrLine><country key="FR"></country></address><ref type="url">http://www.g-scop.grenoble-inp.fr/</ref></desc><listRelation><relation active="#struct-51016" type="direct"></relation><relation active="#struct-300275" type="direct"></relation><relation name="UMR5272" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-51016" type="indirect"><org type="institution" xml:id="struct-51016" status="OLD"><idno type="IdRef">026404796</idno><orgName>Université Joseph Fourier - Grenoble 1</orgName><orgName type="acronym">UJF</orgName><date type="end">2015-12-31</date><desc><address><addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine><country key="FR"></country></address><ref type="url">http://www.ujf-grenoble.fr/</ref></desc></org></tutelle><tutelle active="#struct-300275" type="indirect"><org type="institution" xml:id="struct-300275" status="OLD"><idno type="IdRef">026388804</idno><orgName>Institut National Polytechnique de Grenoble </orgName><orgName type="acronym">INPG</orgName><date type="end">2006-12-31</date><desc><address><addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR5272" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Grenoble</settlement><region type="region" nuts="2">Auvergne-Rhône-Alpes</region><region type="old region" nuts="2">Rhône-Alpes</region></placeName><orgName type="university">Université Joseph Fourier</orgName><orgName type="institution" wicri:auto="newGroup">Université de Grenoble</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>assembly/disassembly</term><term>component mobility</term><term>haptic devices</term><term>kinematic constraints</term><term>virtual reality</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Optimization and realistic simulation of the Assembly and Disassembly (A/D) process represent important research topics considering the role played by these operations throughout the Product Life-Cycle (PLC), from the design stage and up to the recycling at the end-of-life of a product. Although there are numerous studies in this field, many aspects are not yet completely developed or validated.In recent years, Virtual Reality (VR) technology has evolved to new levels of complexity and integration. Now it combines several Human-Computer Interfaces (HCIs) in order to provide users various haptic sensations and to enable them becoming more immersed in the Virtual Environment (VE). Thus, VEs are starting to be frequently used in simulating operations from different domains of activity, among which the A/D process represents a key research area. Many of these applications are currently using haptic feedback and are facing significant difficulties in simulating some detailed operations – e.g. assembly components’ insertion/extraction.After a review of existing haptic devices and immersive simulation platforms, the main purpose of this research is to improve the A/D process simulation by proposing a new method and associated tools and better integration with commercial haptic devices. To this end, the first objective is to evaluate the impact of a mobility module, based on predefined kinematic constraints between components, able to guide user’s movements when simulating A/D operations. This can be achieved through an intelligent management of the assembly components relative mobilities in contact situations. The second objective is to find out if the proposed approach can be integrated with a new moderate cost haptic system: hardware plus software, for industrial use. In this sense, a comparative analysis of the simulation quality provided by two haptic devices is proposed.</div></front></TEI><affiliations><list><country><li>France</li><li>Roumanie</li></country><region><li>Auvergne-Rhône-Alpes</li><li>Rhône-Alpes</li></region><settlement><li>Grenoble</li></settlement><orgName><li>Université Joseph Fourier</li><li>Université de Grenoble</li></orgName></list><tree><country name="Roumanie"><noRegion><name sortKey="Iacob, Robert" sort="Iacob, Robert" uniqKey="Iacob R" first="Robert" last="Iacob">Robert Iacob</name></noRegion><name sortKey="Popescu, Diana" sort="Popescu, Diana" uniqKey="Popescu D" first="Diana" last="Popescu">Diana Popescu</name></country><country name="France"><region name="Auvergne-Rhône-Alpes"><name sortKey="Noel, Frederic" sort="Noel, Frederic" uniqKey="Noel F" first="Frédéric" last="Noël">Frédéric Noël</name></region><name sortKey="Aurelie, Larcher" sort="Aurelie, Larcher" uniqKey="Aurelie L" first="Larcher" last="Aurélie">Larcher Aurélie</name><name sortKey="Mitrouchev, Peter" sort="Mitrouchev, Peter" uniqKey="Mitrouchev P" first="Peter" last="Mitrouchev">Peter Mitrouchev</name><name sortKey="Thibault, Louis" sort="Thibault, Louis" uniqKey="Thibault L" first="Louis" last="Thibault">Louis Thibault</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000C05 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 000C05 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Hal:hal-01176748
|texte= Assembly simulation using haptic devices
}}
| This area was generated with Dilib version V0.6.23. |  |