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�������պ����ѧѧ�� 2001, Vol. 27 Issue (4) :377-380    DOI:
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Virtual Assembly Model with Mixed Control of Position/Force
WU Wei, SUI Ai-na*
Beijing University of Aeronautics and Astronautics, Dept. of Computer Science and Engineering

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Abstract�� At present, the study in the field of virtual environment application focuses mainly on the reality of optical, and during the interaction the force is very important. Therefore, the paper adopts the method of mixed control of position/force in the assembly. Then the effect of touch can be acquired through assembling the virtual objects with the force feedback data-glove in the virtual constraint space. The manipulator can feel the minute process of operating, which like the direct touch between the operator and the object. So, the purpose of "being there" is reached during the assembly. As is shown in the experiment, adopting the technique of force control can remarkably improve the design quality and assembly speed of parts.
Keywords�� virtual technique   assembling   virtual force   force control   tactile sensation     
Received 2000-09-20;


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����, �尮��.����λ��/����Ͽ��Ƶ�����װ��ģ��[J]  �������պ����ѧѧ��, 2001,V27(4): 377-380
WU Wei, SUI Ai-na.Virtual Assembly Model with Mixed Control of Position/Force[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2001,V27(4): 377-380
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