This paper presents an approach for providing realistic force feedback to users manipulating serial-chain virtual mechanisms. In the proposed approach, a haptic device controller is designed that penalizes users’ motion along the directions resisted by the virtual joints. The resisted directions span the nullspace the Jacobian of the virtual mechanism computed at the users’ hand, and are derived via a singular value decomposition-based algorithm. Haptic numerical performance is achieved by computing the resisted directions on the graphics processor, and by using them on the haptics processor to derive the control signal that restricts users’ motion as required by the virtual joints. The performance of the proposed approach is validated through experimental manipulations of links with unrestricted and with restricted motion within a planar virtual world.
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March 2006
Technical Papers
Haptic Manipulation of Serial-Chain Virtual Mechanisms
Daniela Constantinescu,
Daniela Constantinescu
Department of Mechanical Engineering,
e-mail: danielac@me.uvic.ca
University of Victoria
, Victoria, BC V8W 3P6 Canada
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Septimiu E. Salcudean,
Septimiu E. Salcudean
Department of Electrical and Computer Engineering,
University of British Columbia
, Vancouver, BC V6T 1Z4 Canada
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Elizabeth A. Croft
Elizabeth A. Croft
Department of Mechanical Engineering,
University of British Columbia
, Vancouver, BC V6T 1Z4 Canada
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Daniela Constantinescu
Department of Mechanical Engineering,
University of Victoria
, Victoria, BC V8W 3P6 Canadae-mail: danielac@me.uvic.ca
Septimiu E. Salcudean
Department of Electrical and Computer Engineering,
University of British Columbia
, Vancouver, BC V6T 1Z4 Canada
Elizabeth A. Croft
Department of Mechanical Engineering,
University of British Columbia
, Vancouver, BC V6T 1Z4 CanadaJ. Dyn. Sys., Meas., Control. Mar 2006, 128(1): 65-74 (10 pages)
Published Online: November 10, 2005
Article history
Received:
March 30, 2005
Revised:
November 10, 2005
Citation
Constantinescu, D., Salcudean, S. E., and Croft, E. A. (November 10, 2005). "Haptic Manipulation of Serial-Chain Virtual Mechanisms." ASME. J. Dyn. Sys., Meas., Control. March 2006; 128(1): 65–74. https://doi.org/10.1115/1.2168479
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