Real-time impulse-based simulation of rigid body systems for haptic display

Beeling Chang*, Ed Colgate

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

Abstract

To date, haptic interfaces have rarely been used to display complex virtual environments such as those involving 3D mechanical assembly operations, or the use of hand tools. Of the limitations which have been encountered, one is the absence of suitable simulation techniques which provide a general, user-defined virtual environment. This paper discusses the use of an impulse-based simulation as a general purpose multibody simulator for haptic display. This technique uses Poisson's hypothesis in conjunction with Coulomb friction as the basis of the contact model. Since haptic displays are required to run in real time with a constant step size and high update rate, changes to the algorithm are required. We identify the `impact state' as a critical feature of the contact model, and outline the various ways it can be chosen. Finally, we describe the implementation of a planar multibody simulator on one and two-axis haptic displays.

Original languageEnglish (US)
Title of host publicationASME Dynamic Systems and Control Division
EditorsW.S. Chang, A. Gopinath, S.S. Sadhal, E.H. Trinh, C.J. Kim, al et al
PublisherASME
Pages145-152
Number of pages8
Volume61
StatePublished - Dec 1 1997
EventProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition - Dallas, TX, USA
Duration: Nov 16 1997Nov 21 1997

Other

OtherProceedings of the 1997 ASME International Mechanical Engineering Congress and Exposition
CityDallas, TX, USA
Period11/16/9711/21/97

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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