Stable and Responsive Six-Degree-of-Freedom Haptic Manipulation Using Implicit Integration

Authors:
Miguel A. Otaduy;Ming C. Lin
Affiliations:
University of North Carolina at Chapel Hill;University of North Carolina at Chapel Hill
Venue:
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Year:
2005

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Abstract

In this paper we present a novel approach for simulating the rigid body dynamics of a haptically manipulated object using implicit integration. Our formulation requires the linearization of contact and manipulation forces, and it provides higher stability and responsiveness than previous methods. The linearization of contact forces, coupled with fast, perceptually based collision detection algorithms, enables us to perform highly stable and responsive6-degree-of-freedom haptic rendering of complex polygonal models.