Title :
Interactive dynamic simulation using haptic interaction
Author :
Son, Wookho ; Kim, Kyunghwan ; Amato, Nancy M. ; Trinkle, Jeffrey C.
Author_Institution :
Texas A&M Univ., TX, USA
Abstract :
Describes an interactive dynamic simulator for virtual environments which allows user interaction via a haptic interface. The interactive simulation is performed in our testbed dynamic simulator I-GMS (Interactive Generalized Motion Simulator), which has been developed in an object-oriented framework for simulating motions of free bodies and complex linkages such as those needed for robotic systems or human body simulation. User interaction is achieved by performing push and pull operations via the PHANToM haptic device which runs as on integrated part of I-GMS. We demonstrate the user interaction capability of I-GMS through online editing of trajectories for a 6-DOF robot manipulator
Keywords :
biology computing; biomechanics; control system analysis computing; digital simulation; dynamics; haptic interfaces; manipulator dynamics; mechanical engineering computing; object-oriented methods; virtual reality; I-GMS dynamic simulator; Interactive Generalized Motion Simulator; PHANToM haptic device; complex linkages; free body motions; haptic interaction; haptic interface; human body simulation; interactive dynamic simulation; object-oriented framework; online trajectory editing; pull operations; push operations; robot manipulator; robotic systems; user interaction; virtual environments; Biological system modeling; Couplings; Haptic interfaces; Human robot interaction; Imaging phantoms; Manipulators; Object oriented modeling; Performance evaluation; System testing; Virtual environment;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894596
