Real-time Rigid Body Simulation for Haptic Interactions Based on Contact Volume of Polygonal Objects

This paper proposes a new method for real‐time rigid body simulations for haptic interactions based on a penalty method regarding contact volume. Analytical methods for calculation of contact forces require too much time to maintain fast update rates for haptic controls. In addition, they prohibit d...

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Vydáno v:Computer graphics forum Ročník 23; číslo 3; s. 529 - 538
Hlavní autoři: Hasegawa, S., Sato, M.
Médium: Journal Article
Jazyk:angličtina
Vydáno: Oxford, UK and Boston, USA Blackwell Publishing, Inc 01.09.2004
Blackwell Publishing Ltd
Témata:
Computer graphics
Feedback
Haptics
Methods
Real time
Simulation
Studies
ISSN:0167-7055, 1467-8659
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Shrnutí:This paper proposes a new method for real‐time rigid body simulations for haptic interactions based on a penalty method regarding contact volume. Analytical methods for calculation of contact forces require too much time to maintain fast update rates for haptic controls. In addition, they prohibit direct connection of haptic interfaces. Penalty methods, which employ spring‐damper models for calculation of contact forces, offer a very rapid rate of iterations. In addition, they permit direct connection of haptic interfaces. Penalty methods are good for haptic interactions. However, previous penalty methods do not regard distribution of contact forces over the contact area. For that reason, they can't calculate normal and friction forces on face‐face contacts correctly. We propose a distributed spring‐damper model on a contact area to solve these problems. We analyze three‐dimensional geometries of the intersecting portion on the polyhedral objects. Then, we integrate forces and torques of distributed spring‐damper models. We implement a proposed simulator and compare it with a point‐based penalty method and constraint method. The comparison shows that the proposed simulator improves accuracy of the simulation of face‐face contact and friction forces and the simulation speed. In addition, we attach a six degree‐of‐freedom (6‐DOF) haptic interface to the simulator. Users can feel 6‐DOF force feedback and input 6‐DOF motions. Categories and Subject Descriptors (according to ACM CCS): I.6.5 [Model Development]: Modeling methodologies, H.5.2 [User Interfaces]: Haptic I/O, I.3.6 [Methodology and Techniques]: Interaction techniques
Bibliografie:istex:22A5999AFE8BEE18B93B095E7FD03E6401127B6D
ark:/67375/WNG-2BM9P500-G
ArticleID:CGF784
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 14
ISSN:0167-7055
1467-8659
DOI:10.1111/j.1467-8659.2004.00784.x