Use of an industrial robot as a haptic interaction device interfacefor the Virtual Reality

摘要

In the available paper we describes a new input device for execution of assembly tasks on virtual prototypes on the basis of a standard robot With this interaction device for the virtual reality the kinesthetic feedback is possible in a larger force range than so far with existing solutions. In this paper a new interface for virtual assembly of virtual prototyps is introduced on the basis of a standard industrial robot. It is possible to produce a kinesthic feedback in a force range until 100N by this haptic inter-face. The focus of this work is the hardware set-up and the choice of the suitable force control algorithm.