Haptic-based interactive path planning for a virtual robot arm

  • C. J. Chen
  • S. K. Ong
  • A. Y. C. Nee
  • Y. Q. Zhou
Original Paper
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Accepted:

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.

Keywords

Virtual assembly interaction Virtual robot arm model Workspace mapping Path planning 
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Copyright information

© Springer-Verlag 2010

Authors and Affiliations

  • C. J. Chen
    • 1
  • S. K. Ong
    • 2
  • A. Y. C. Nee
    • 2
  • Y. Q. Zhou
    • 3
  1. 1.Qingdao Technological UniversityQingdaoChina
  2. 2.Department of Mechanical Engineering, Faculty of EngineeringNational University of SingaporeSingaporeSingapore
  3. 3.Shandong UniversityJinanChina

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