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Volume 27 Issue 4
Apr.  2001
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Journal of Beijing University of Aeronautics and Astronautics  > 2001  >  27(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 Astronautics, 2001, 27(4): 377-380. (in Chinese)
Citation: WU Wei, SUI Ai-na. Virtual Assembly Model with Mixed Control of Position/Force[J]. Journal of Beijing University of Aeronautics and Astronautics, 2001, 27(4): 377-380. (in Chinese)
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Virtual Assembly Model with Mixed Control of Position/Force

  • Beijing University of Aeronautics and Astronautics, Dept. of Computer Science and Engineering

  • Received Date: 20 Sep 2000
  • Publish Date: 30 Apr 2001
    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.

     

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  • [1] Jayaram Sankar, Wang Yong, Jayaram Uma. A virtual assembly design environment .http://www.mel.nist.gov/msidlibrary/doc/vade98.html. [2] Weyrich Michael, Drews Paul. An interactive environment for virtual manufacturing:the virtual workbench[J]. Computers in Industry,1999,38:5~15． [3] Su Chuan-Jun, Lin Fuhua, Ye Lan. A new collision detection method for CSG-represented objects in virtual manufacturing[J]. Computers in Industry, 1999, 40:1~13． [4] Kotoku Tetsuo, Komoriya Kiyoshi, Tanie Kazuo. A force display system for virtual environments and its evaluation[J]. IEEE International Workshop on Robot and Human Communication,1992:246~251． [5] Kotokv Tetsuo. A predictive display with force feedback and its application to remote manipulation system with transmission time delay ． In:Proc of IEEE Conference on Intelligent Robots and System , 1992.239~246． [6] Kotoku Tetsuo, Takamune Kouichi, Tanie Kazuo. A virtual environment display with constraint feeling based on position/force control switching[J]. IEEE International Workshop on Robot and Human Communication,1994:255~260．
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