Real-time Dynamics Simulation of a Closed-chain Robot Within a Virtual Reality Environment.
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| Title: | Real-time Dynamics Simulation of a Closed-chain Robot Within a Virtual Reality Environment. |
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| Authors: | Isnard, F1, Dodds, G1, Vallee, C2, Fortune, D2 |
| Source: | Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics (Professional Engineering Publishing). 2000, Vol. 214 Issue 4, p219-232. 14p. |
| Subjects: | Dynamics, Robots, Virtual reality |
| Abstract: | In this paper, an implementation of the dynamics of chain systems in a virtual reality (VR) environment is presented. The approach permits real-time dynamic robot workplace simulations as well as user immersion provided by VR. It is then demonstrated with a number of practical examples on a standard VR package. A new method for building the dynamic equations, which is developed from a linear geometric model; is presented. This method is particulary well suited to managing closed-chain systems. A tool to allow dynamic interactions between a robot and the user is then developed. The implementation is also described and the approach is validated by giving examples of robot simulations. [ABSTRACT FROM AUTHOR] |
| Copyright of Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics (Professional Engineering Publishing) is the property of Professional Engineering Publishing and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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