IEEE Transactions on Systems, Man and Cybernetics
Energy constraints on parameterized models
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
The kinematics of contact and grasp
International Journal of Robotics Research
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Interval methods for multi-point collisions between time-dependent curved surfaces
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
An interactive tool for placing curved surfaces without interpenetration
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Umbilics and lines of curvature for shape interrogation
Computer Aided Geometric Design
A graph-constructive approach to solving systems of geometric constraints
ACM Transactions on Graphics (TOG)
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Geometric awareness for interactive object manipulation
Proceedings of the 1999 conference on Graphics interface '99
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Constraints methods for flexible models
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Second Order Kinematic Constraint Between Two Bodies Rolling, Twisting and Slipping Against Each Other While Maintaining Point Contact
A differential approach to graphical interaction
A differential approach to graphical interaction
Spatial constraint method: a new approach to real-time haptic interaction in virtual environments
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Quasi-Static Approximation for 6 Degrees-of-Freedom Haptic Rendering
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
Advances in voxel-based 6-DOF haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
A haptic system for virtual prototyping of polygonal models
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
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Previous interactive works have used springs, heuristics, and dynamics for surface placement applications. We present an analytical technique for kilohertz rate manipulation of CAD models with virtual surface and trimming constraints. The optimization approach allows best placement and sensitivity analysis for mechanical design objectives and parametric domain objectives. Such objectives are not readily incorporated into previous interactive methods. Force feedback is rendered to the user using previously developed haptics principles.