Abstract
The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation.
| Original language | English |
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| Title of host publication | 2006 IEEE International Conference on Automation Science and Engineering, CASE |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Pages | 304-309 |
| Number of pages | 6 |
| ISBN (Print) | 1424403103, 9781424403103 |
| DOIs | |
| Publication status | Published - 2006 |
| Externally published | Yes |
| Event | IEEE Conference on Automation Science and Engineering 2006 - Shanghai, China Duration: 7 Oct 2006 → 10 Oct 2006 Conference number: 2nd https://ieeexplore.ieee.org/xpl/conhome/4120311/proceeding (Proceedings) |
Conference
| Conference | IEEE Conference on Automation Science and Engineering 2006 |
|---|---|
| Abbreviated title | CASE 2006 |
| Country/Territory | China |
| City | Shanghai |
| Period | 7/10/06 → 10/10/06 |
| Internet address |