Stable Dynamic Algorithm Based on Virtual Coupling for 6-DOF Haptic Rendering
作者： Xiyuan Hou , Olga Sourina
DOI: 10.1109/CW.2012.29
关键词: Haptic technology 、 Stanford bunny 、 Simulation 、 Six degrees of freedom 、 Torque 、 Inertia 、 Property (programming) 、 Computer science 、 Coupling 、 Dynamic problem
摘要: In this paper, a new stable dynamic algorithm based on virtual coupling was proposed for 6-Degrees-of-Freedom (DOF) haptic rendering. It allows manipulation of objects when tool has physical property such as mass. the rendering process, we consider rotation inertia in each frame. The main contribution is that it could overcome "buzzing" problem appeared process. A nonlinear force/torque to calculate interaction collision happens between and objects. magnitude saturate maximum value device. implemented tested with peg-in-hole Stanford bunny benchmarks. experimental results showed our capable provide 6-DOF rigid
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