The technology of immersive Virtual Reality (VR) introduces many additional possibilities of theinteraction for the numerical simulation of Multibody Systems (MBS). In an immersiveVR-Environment the user can manipulate bodies of the concurrently running simulation of MBSwith an input device which usually is a tracked pen. Since the simulated MBS is stereoscopicallypresented in the same 3D room where the user works, the user can manipulate the system intuitivelyand observe the effect of his manipulation immediately.The server/client architecture is employed to construct the programs of the simulation and thevisualization of MBS. The server is used to coordinate the clients and save temporal data. One clientis used for the numerical simulation of MBS while two more clients are used for the stereoscopicvisualization of MBS. We use CORBA to build the server/client architecture.Compared to the manipulation in the real world, the user’s manipulation in VR-Environment is notrestricted. Sometimes this is convenient. However, it may cause the kinematical inconsistence ofMBS. Two categories of approaches have been developed to deal with this inconsistency and modelthe interaction in view of MBS. The approach based on kinematics tries to transform the user’s handmotion in consistent positions, while the approach based on dynamics introduces driving forces intothe system for the simulation of the hand motion. By both approaches the user’s demands can besatisfied.
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