HapticV1, PascalFrancis, Curation, bibRecord, 000D81

Haptic-based interactive path planning for a virtual robot arm

Identifieur interne : 000D81 ( PascalFrancis/Curation ); précédent : 000D80; suivant : 000D82

Haptic-based interactive path planning for a virtual robot arm

Auteurs : C. J. Chen [République populaire de Chine] ; S. K. Ong [Singapour] ; A. Y. C. Nee [Singapour] ; Y. Q. Zhou [République populaire de Chine]

Source :

IJIDeM [ 1955-2513 ] ; 2010.

RBID : Pascal:10-0264910

Descripteurs français

Pascal (Inist)
- Robotique, Robot, Réalité virtuelle, Conception assistée, Maquette numérique, Préparation gamme fabrication, Montage, Interface utilisateur, Système homme machine, Sensibilité tactile, Planification trajectoire, Trajectoire optimale, Domaine travail, Cinématique, Modélisation, Solution similitude, Etude expérimentale, ..
Wicri :
- topic : Robotique, Réalité virtuelle.

English descriptors

KwdEn :
- Assembly, Computer aided design, Digital mock up, Experimental study, Kinematics, Man machine system, Modeling, Optimal trajectory, Path planning, Process planning, Robot, Robotics, Similarity solution, Tactile sensitivity, User interface, Virtual reality, Workspace.

Abstract

In this paper, based on the structural similarity between the PHANToM haptic device and a six-DOF (Degrees of Freedom) articulated robot arm, a six-DOF virtual robot arm driven by the PHANToM device is modeled. In order to enable the virtual robot arm to haptically interact with virtual prototypes in a virtual assembly (VA) environment, a workspace mapping method based on robot kinematics analysis is proposed. The haptic-based virtual robot arm is used in interactive modeling in free path planning and constraint-based assembly path planning operations in the VA system. In both planning processes, the user can interactively edit an assembly path with the guiding forces as feedback. Lastly, A few experiments have been conducted to verify the effectiveness of the proposed methods. The haptic-based virtual robot arm presented in this paper provides a new human-computer interaction method for a VA system.

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Le document en format XML

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<front><div type="abstract" xml:lang="en">In this paper, based on the structural similarity between the PHANToM haptic device and a six-DOF (Degrees of Freedom) articulated robot arm, a six-DOF virtual robot arm driven by the PHANToM device is modeled. In order to enable the virtual robot arm to haptically interact with virtual prototypes in a virtual assembly (VA) environment, a workspace mapping method based on robot kinematics analysis is proposed. The haptic-based virtual robot arm is used in interactive modeling in free path planning and constraint-based assembly path planning operations in the VA system. In both planning processes, the user can interactively edit an assembly path with the guiding forces as feedback. Lastly, A few experiments have been conducted to verify the effectiveness of the proposed methods. The haptic-based virtual robot arm presented in this paper provides a new human-computer interaction method for a VA system.</div>
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<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Optimal trajectory</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Trayectoria óptima</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Domaine travail</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Workspace</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Dominio trabajo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Modélisation</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Modeling</s0>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Modelización</s0>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Solution similitude</s0>
<s5>27</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Similarity solution</s0>
<s5>27</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Solución semejanza</s0>
<s5>27</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>33</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>33</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>.</s0>
<s4>INC</s4>
<s5>82</s5>
</fC03>
<fN21><s1>172</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

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Haptic-based interactive path planning for a virtual robot arm

Haptic-based interactive path planning for a virtual robot arm

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