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Proceedings Paper

System for the implementation and kinesthetic display of virtual environments
Author(s): Paul Millman; Michael C. Stanley; Paul Grafing; J. Edward Colgate
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Paper Abstract

A system for kinesthetic and visual display of virtual environments has been developed which includes a four degree-of-freedom, force-controlled manipulation and a parallel processing architecture for performing real-time environment simulation, manipulation control, and graphics display. The system allows a user to interact with a virtual environment via a virtual hand tool. 'Forces' at the handle of the virtual tool are experienced as real forces at the handle of the manipulandum. The problem of modeling environments composed of rigid bodies with intermittent contact has been addressed. Dynamic equations for environment simulations are generated and solved in real time by an array of interconnected microprocessors. Additional microprocessors safeguard against dangerous motor accelerations and potentially damaging manipulator configurations.

Paper Details

Date Published: 26 March 1993
PDF: 8 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142127
Show Author Affiliations
Paul Millman, Northwestern Univ. (United States)
Michael C. Stanley, Northwestern Univ. (United States)
Paul Grafing, Northwestern Univ. (United States)
J. Edward Colgate, Northwestern Univ. (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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