Haptic simulation of multibody contact dynamics for fixture loading planning

Tong Liu; Michael Yu Wang

doi:10.1109/COASE.2006.326898

Haptic simulation of multibody contact dynamics for fixture loading planning

Tong Liu^*, Michael Yu Wang

^*Corresponding author for this work

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

1 Citation (Scopus)

Abstract

The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation.

Original language	English
Title of host publication	2006 IEEE International Conference on Automation Science and Engineering, CASE
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	304-309
Number of pages	6
ISBN (Print)	1424403103, 9781424403103
DOIs	https://doi.org/10.1109/COASE.2006.326898
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Automation Science and Engineering, CASE - Shanghai, China Duration: 8 Oct 2006 → 10 Oct 2006

Publication series

Name	2006 IEEE International Conference on Automation Science and Engineering, CASE

Conference

Conference	2006 IEEE International Conference on Automation Science and Engineering, CASE
Country/Territory	China
City	Shanghai
Period	8/10/06 → 10/10/06

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10.1109/COASE.2006.326898

Cite this

Liu, T., & Wang, M. Y. (2006). Haptic simulation of multibody contact dynamics for fixture loading planning. In 2006 IEEE International Conference on Automation Science and Engineering, CASE (pp. 304-309). Article 4120364 (2006 IEEE International Conference on Automation Science and Engineering, CASE). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/COASE.2006.326898

@inproceedings{8fd5336386194d709a21db87cfcc131a,

title = "Haptic simulation of multibody contact dynamics for fixture loading planning",

abstract = "The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation.",

author = "Tong Liu and Wang, \{Michael Yu\}",

year = "2006",

doi = "10.1109/COASE.2006.326898",

language = "English",

isbn = "1424403103",

series = "2006 IEEE International Conference on Automation Science and Engineering, CASE",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "304--309",

booktitle = "2006 IEEE International Conference on Automation Science and Engineering, CASE",

note = "2006 IEEE International Conference on Automation Science and Engineering, CASE ; Conference date: 08-10-2006 Through 10-10-2006",

}

Liu, T & Wang, MY 2006, Haptic simulation of multibody contact dynamics for fixture loading planning. in 2006 IEEE International Conference on Automation Science and Engineering, CASE., 4120364, 2006 IEEE International Conference on Automation Science and Engineering, CASE, Institute of Electrical and Electronics Engineers Inc., pp. 304-309, 2006 IEEE International Conference on Automation Science and Engineering, CASE, Shanghai, China, 8/10/06. https://doi.org/10.1109/COASE.2006.326898

Haptic simulation of multibody contact dynamics for fixture loading planning. / Liu, Tong; Wang, Michael Yu.
2006 IEEE International Conference on Automation Science and Engineering, CASE. Institute of Electrical and Electronics Engineers Inc., 2006. p. 304-309 4120364 (2006 IEEE International Conference on Automation Science and Engineering, CASE).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

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AU - Liu, Tong

AU - Wang, Michael Yu

PY - 2006

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N2 - The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation.

AB - The paper presents a haptics system for multibody contact dynamics simulation. The purpose of the study is for fixture loading planning, which is to plan the applying force on a workpiece to move it into the fixture. The system incorporates the dynamics simulation engine with the haptics interaction. The dynamics simulation engine uses a time stepping method with Guass-Seidel algorithm for resolving the forces on multiple contacts. The haptics interaction is performed in two modes: no contact mode and contact mode. To reach the high updating rate required for haptics simulation (1KHz), we use two computers for the simulation, and the data is exchanged through a network connection. Examples show that the system can generate a physically plausible workpiece motion and reaction force for haptics simulation.

UR - https://www.scopus.com/pages/publications/45149086724

U2 - 10.1109/COASE.2006.326898

DO - 10.1109/COASE.2006.326898

M3 - Conference Paper published in a book

AN - SCOPUS:45149086724

SN - 1424403103

SN - 9781424403103

T3 - 2006 IEEE International Conference on Automation Science and Engineering, CASE

SP - 304

EP - 309

BT - 2006 IEEE International Conference on Automation Science and Engineering, CASE

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2006 IEEE International Conference on Automation Science and Engineering, CASE

Y2 - 8 October 2006 through 10 October 2006

ER -

Liu T, Wang MY. Haptic simulation of multibody contact dynamics for fixture loading planning. In 2006 IEEE International Conference on Automation Science and Engineering, CASE. Institute of Electrical and Electronics Engineers Inc. 2006. p. 304-309. 4120364. (2006 IEEE International Conference on Automation Science and Engineering, CASE). doi: 10.1109/COASE.2006.326898

Haptic simulation of multibody contact dynamics for fixture loading planning

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