NDLI: Artificial and natural force constraints in haptic-aided path planning

Content Provider	IEEE Xplore Digital Library
Author	Galeano, D. Payandeh, S.
Copyright Year	2005
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada (Galeano, D.; Payandeh, S.)
Abstract	The paper presents novel extensions of the notion of artificial and natural constraints which have been used in force and position control of robotic devices to the new paradigm of haptic-aided design. In particular, the preliminary results of this paper show how the user can interact with the virtual CAD environment in solving various path planning problems where traditional approaches may fail in converging to a solution. Here, the representations of objects are mapped into various force fields where the user can define a path from an initial configuration to a goal configuration. A novel methodology is also proposed where the linear force fields combined with the geometrical constraints can be used to guide the user to accomplish a desired spatial rotation of the object in the task space. This is important in most cases where the haptic devices are only capable in generating linear force fields as opposed to full six degrees of freedom fields. Some examples are presented to demonstrate the feasibility of the proposed methods.
File Size	271896
File Format	PDF
ISBN	0780393767
DOI	10.1109/HAVE.2005.1545650
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-01
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Motion planning Haptic interfaces Orbital robotics Robots Force control Position control Lubricating oils Engines Manipulators
Content Type	Text
Resource Type	Article

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