A Virtual Robot Arm Model with Force Feedback and Contact States Identification
Identifieur interne : 003E02 ( Main/Exploration ); précédent : 003E01; suivant : 003E03A Virtual Robot Arm Model with Force Feedback and Contact States Identification
Auteurs : Chengjun Chen [République populaire de Chine] ; Niu Li [République populaire de Chine]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2010.
Abstract
Abstract: This paper modeled a force feedback-based virtual robot arm which can identify contact states between virtual prototypes. In order to enable the virtual robot arm to be driven by haptic device and haptically interact with virtual prototypes in virtual environment, a workspace mapping method based on robot kinematics analysis is proposed. A contact states identification method based on boundary and topology model is presented. In this method the potential contact elements (such as vertex, edge and surface) are obtained by comparing the connectivity degree of the convex, edge and surface of overlaid virtual models. According to the priority of different contact states, different potential contact states are set using potential contact elements of both parts, once the distance and direction between contact elements meet those of some contact state, the contact state between two parts is identified. With the presented virtual robot arm model, operators can drive the virtual robot arm interactively and feel the contact states between virtual prototypes using feedback force.
Url:
DOI: 10.1007/978-3-642-16493-4_37
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 002A02
- to stream Istex, to step Curation: 002A02
- to stream Istex, to step Checkpoint: 000B99
- to stream Main, to step Merge: 003E60
- to stream Main, to step Curation: 003E02
Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Virtual Robot Arm Model with Force Feedback and Contact States Identification</title>
<author><name sortKey="Chen, Chengjun" sort="Chen, Chengjun" uniqKey="Chen C" first="Chengjun" last="Chen">Chengjun Chen</name>
</author>
<author><name sortKey="Li, Niu" sort="Li, Niu" uniqKey="Li N" first="Niu" last="Li">Niu Li</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">ISTEX</idno>
<idno type="RBID">ISTEX:AE43476076EE8A8C3AE1DCDCD5030D124A539BFB</idno>
<date when="2010" year="2010">2010</date>
<idno type="doi">10.1007/978-3-642-16493-4_37</idno>
<idno type="url">https://api.istex.fr/document/AE43476076EE8A8C3AE1DCDCD5030D124A539BFB/fulltext/pdf</idno>
<idno type="wicri:Area/Istex/Corpus">002A02</idno>
<idno type="wicri:Area/Istex/Curation">002A02</idno>
<idno type="wicri:Area/Istex/Checkpoint">000B99</idno>
<idno type="wicri:doubleKey">0302-9743:2010:Chen C:a:virtual:robot</idno>
<idno type="wicri:Area/Main/Merge">003E60</idno>
<idno type="wicri:Area/Main/Curation">003E02</idno>
<idno type="wicri:Area/Main/Exploration">003E02</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">A Virtual Robot Arm Model with Force Feedback and Contact States Identification</title>
<author><name sortKey="Chen, Chengjun" sort="Chen, Chengjun" uniqKey="Chen C" first="Chengjun" last="Chen">Chengjun Chen</name>
<affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country>
<wicri:regionArea>School of Mechanical Engineering, Qingdao Technological University</wicri:regionArea>
<wicri:noRegion>Qingdao Technological University</wicri:noRegion>
</affiliation>
<affiliation><wicri:noCountry code="no comma">E-mail: ccmilitary@yahoo.com</wicri:noCountry>
</affiliation>
</author>
<author><name sortKey="Li, Niu" sort="Li, Niu" uniqKey="Li N" first="Niu" last="Li">Niu Li</name>
<affiliation wicri:level="1"><country xml:lang="fr">République populaire de Chine</country>
<wicri:regionArea>School of Mechanical Engineering, Qingdao Technological University</wicri:regionArea>
<wicri:noRegion>Qingdao Technological University</wicri:noRegion>
</affiliation>
<affiliation><wicri:noCountry code="no comma">E-mail: Liniu8412@163.com</wicri:noCountry>
</affiliation>
</author>
</analytic>
<monogr></monogr>
<series><title level="s">Lecture Notes in Computer Science</title>
<imprint><date>2010</date>
</imprint>
<idno type="ISSN">0302-9743</idno>
<idno type="eISSN">1611-3349</idno>
<idno type="ISSN">0302-9743</idno>
</series>
<idno type="istex">AE43476076EE8A8C3AE1DCDCD5030D124A539BFB</idno>
<idno type="DOI">10.1007/978-3-642-16493-4_37</idno>
<idno type="ChapterID">37</idno>
<idno type="ChapterID">Chap37</idno>
</biblStruct>
</sourceDesc>
<seriesStmt><idno type="ISSN">0302-9743</idno>
</seriesStmt>
</fileDesc>
<profileDesc><textClass></textClass>
<langUsage><language ident="en">en</language>
</langUsage>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">Abstract: This paper modeled a force feedback-based virtual robot arm which can identify contact states between virtual prototypes. In order to enable the virtual robot arm to be driven by haptic device and haptically interact with virtual prototypes in virtual environment, a workspace mapping method based on robot kinematics analysis is proposed. A contact states identification method based on boundary and topology model is presented. In this method the potential contact elements (such as vertex, edge and surface) are obtained by comparing the connectivity degree of the convex, edge and surface of overlaid virtual models. According to the priority of different contact states, different potential contact states are set using potential contact elements of both parts, once the distance and direction between contact elements meet those of some contact state, the contact state between two parts is identified. With the presented virtual robot arm model, operators can drive the virtual robot arm interactively and feel the contact states between virtual prototypes using feedback force.</div>
</front>
</TEI>
<affiliations><list><country><li>République populaire de Chine</li>
</country>
</list>
<tree><country name="République populaire de Chine"><noRegion><name sortKey="Chen, Chengjun" sort="Chen, Chengjun" uniqKey="Chen C" first="Chengjun" last="Chen">Chengjun Chen</name>
</noRegion>
<name sortKey="Li, Niu" sort="Li, Niu" uniqKey="Li N" first="Niu" last="Li">Niu Li</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 003E02 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 003E02 | 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= ISTEX:AE43476076EE8A8C3AE1DCDCD5030D124A539BFB |texte= A Virtual Robot Arm Model with Force Feedback and Contact States Identification }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |