Interactive Dynamic Simulation Schemes for Articulated Bodies through Haptic Interface

摘要

This paper describes interactive dynamic simulationschemes for articulated bodies in virtual environments,where user interaction is allowed through a haptic interface.We incorporated these schemes into our dynamic simulatorI-GMS, which was developed in an object-orientedframework for simulating motions of free bodies andcomplex linkages, such as those needed for robotic systemsor human body simulation. User interaction is achieved byperforming push and pull operations with the PHANToMhaptic device, which runs as an integrated part of I-GMS.We use both forward and inverse dynamics of articulatedbodies for the haptic interaction by the push and pulloperations, respectively. We demonstrate the userinteractioncapability of I-GMS through on-line editing oftrajectories for 6-dof (degrees of freedom) articulated bodies.