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Proceedings Paper

Haptic feedback for virtual assembly
Author(s): Greg R. Luecke; Naci Zafer
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Paper Abstract

Assembly operations require high speed and precision with low cost. The manufacturing industry has recently turned attenuation to the possibility of investigating assembly procedures using graphical display of CAD parts. For these tasks, some sort of feedback to the person is invaluable in providing a real sense of interaction with virtual parts. This research develops the use of a commercial assembly robot as the haptic display in such tasks. For demonstration, a peg-hole insertion task is studied. Kane's Method is employed to derive the dynamics of the peg and the contact motions between the peg and the hole. A handle modeled as a cylindrical peg is attached to the end effector of a PUMA 560 robotic arm. The arm is handle modeled as a cylindrical peg is attached to the end effector of a PUMA 560 robotic arm. The arm is equipped with a six axis force/torque transducer. The use grabs the handle and the user-applied forces are recorded. A 300 MHz Pentium computer is used to simulate the dynamics of the virtual peg and its interactions as it is inserted in the virtual hole. The computed torque control is then employed to exert the full dynamics of the task to the user hand. Visual feedback is also incorporated to help the user in the process of inserting the peg into the hole. Experimental results are presented to show several contact configurations for this virtually simulated task.

Paper Details

Date Published: 18 December 1998
PDF: 8 pages
Proc. SPIE 3524, Telemanipulator and Telepresence Technologies V, (18 December 1998); doi: 10.1117/12.333675
Show Author Affiliations
Greg R. Luecke, Iowa State Univ. (United States)
Naci Zafer, Iowa State Univ. (Turkey)

Published in SPIE Proceedings Vol. 3524:
Telemanipulator and Telepresence Technologies V
Matthew R. Stein, Editor(s)

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