제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
- /
- Pages.125-129
- /
- 1996
가변형 박판에 대한 촉감 제시
Haptic display for deformable thin film
초록
This paper presents the haptic rendering algorithm which gives the feel information to the operator by manipulating a virtual tool with a haptic device in the simulated environment. The movement of a virtual tool grasped by the operator, which is modeled as a square is displayed in the graphic screen of a computer and the virtual environment is modeled as deformable thin film. When the tool contacts with the virtual environment, the operator is forced to feel the contact and the feature of the deformed virtual environment through the torque control of th haptic device. Contact situations are modeled as close as to the reality considering friction, elasticity and multiple contacts. Several experiments are conducted and the effectiveness of the proposed algorithm is confirmed.