Using configuration space for the haptic rendering of assemblv tasks

This paper presents a procedure to construct the configuration space in real time in order to be used in the haptic rendering of assembly tasks. Configuration space captures the constraints of the task and is useful to detect the contact situations and to compute the required reaction forces to be fed back to the haptic device. The knowledge of the kind of contacts taking place allows a better haptic rendering when face-face or edge-face contacts occur. The proposed haptic rendering procedure makes use of temporal and spatial coherence in order to compute, in less than one millisecond, the configuration space and the reaction forces occurring during the performance of a virtual assembly task