Special section: IEEE Virtual Reality (VR) 2009: Interactive path planning for haptic assistance in assembly tasks

Authors:
N. Ladeveze;Jean-Yves Fourquet;Bernard Puel
Affiliations:
Ecole Nationale d'Ingénieurs de Tarbes - Laboratoire Genie Production, 47, av. d'Azereix BP 1629, 65016 TARBES CEDEX, France;Ecole Nationale d'Ingénieurs de Tarbes - Laboratoire Genie Production, 47, av. d'Azereix BP 1629, 65016 TARBES CEDEX, France;Alstom Transport S.A., Rue du Docteur Guinier - BP4 65601 SEMEAC Cedex, France
Venue:
Computers and Graphics
Year:
2010

Citing 6
Cited 1

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A Virtual Assembly Design Environment

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Six degree-of-freedom haptic rendering using voxel sampling

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Planning Algorithms

Planning Algorithms

Using virtual reality and 3D industrial numerical models for immersive interactive checklists

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Abstract

This paper describes a global interactive framework including fast motion planning and a real-time guiding force for 3D CAD part assembly or disassembly tasks. To begin with, a collaborative architecture including the user and the planner is described. Then, for real-time purposes, a motion planner divided into two steps is presented: firstly, a preliminary workspace discretization is carried out with no time limitations at the beginning of the simulation, secondly, using this computed data, a second algorithm tries to find a collision-free path in real-time. Once the path has been found, haptic artificial guidance on the path is provided to the user. The user can subsequently influence the planner by following-or choosing not to follow-the path and automatically order new path research. The performance of this haptic assistance is measured on tests based on an ALSTOM power component assembly simulation.