Motion constraint design for a multi-functional virtual manipulation system

Mu Cheng Hsieh*, Kuu-Young Young

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review


Simulation systems nowadays are applied for various tasks, and thus demands a versatile manipulative system for the user to interact with the corresponding simulated environments. To make a single manipulative device applicable for different tasks, the concept of virtual mechanism has been previously proposed, in which virtual motion constraints are constructed via the software to constrain the manipulative device to move within a limited workspace that corresponds to task requirements. Motivated by the idea, in this paper, we propose a systematic approach to design and implement the virtual motion constraints for a multi-functional virtual manipulation system. The motion constraints are generated from sets of virtual walls, built of different shapes and physical properties, to deal with the compliance task, which involves both position and force management. An algorithm on how to properly assemble the walls and a graphics-based method for smooth force rendering between them are proposed for given compliance tasks. For demonstration, in experiments, we implement a virtual omni-directional wrench based on using a 2-DOF force-reflection joystick.

Original languageEnglish
Article number4811512
Pages (from-to)1579-1584
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
StatePublished - 1 Dec 2008
Event2008 IEEE International Conference on Systems, Man and Cybernetics, SMC 2008 - Singapore, Singapore
Duration: 12 Oct 200815 Oct 2008


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