A collision response method in virtual environment of peg-in-hole microassembly

Fusheng Tan; Lining Sun; Weibin Rong; Jiang Zhu

A collision response method in virtual environment of peg-in-hole microassembly

Fusheng Tan^*
, Lining Sun
, Weibin Rong
, Jiang Zhu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to conference › Paper › peer-review

3 Scopus citations

Abstract

Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods. The paper presents a general framework for micromanipulation robot based on virtual reality technology. Based on this, we bring forward Two-Level Collision Detection System to handle the collision detection of the peg-in-hole microassembly successfully. The collision response model for the collision between micro needle and hole is presented. The virtual force and corresponding displacement can be calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.

Original language	English
Pages	3210-3213
Number of pages	4
State	Published - 2004
Event	WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings - Hangzhou, China Duration: 15 Jun 2004 → 19 Jun 2004

Conference

Conference	WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings
Country/Territory	China
City	Hangzhou
Period	15/06/04 → 19/06/04

Keywords

Collision detection
Collision response
Microassembly
Virtual reality

Cite this

@conference{f0384745164549cd93e43653945470bc,

title = "A collision response method in virtual environment of peg-in-hole microassembly",

abstract = "Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods. The paper presents a general framework for micromanipulation robot based on virtual reality technology. Based on this, we bring forward Two-Level Collision Detection System to handle the collision detection of the peg-in-hole microassembly successfully. The collision response model for the collision between micro needle and hole is presented. The virtual force and corresponding displacement can be calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.",

keywords = "Collision detection, Collision response, Microassembly, Virtual reality",

author = "Fusheng Tan and Lining Sun and Weibin Rong and Jiang Zhu",

year = "2004",

language = "英语",

pages = "3210--3213",

note = "WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings ; Conference date: 15-06-2004 Through 19-06-2004",

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TY - CONF

T1 - A collision response method in virtual environment of peg-in-hole microassembly

AU - Tan, Fusheng

AU - Sun, Lining

AU - Rong, Weibin

AU - Zhu, Jiang

PY - 2004

Y1 - 2004

N2 - Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods. The paper presents a general framework for micromanipulation robot based on virtual reality technology. Based on this, we bring forward Two-Level Collision Detection System to handle the collision detection of the peg-in-hole microassembly successfully. The collision response model for the collision between micro needle and hole is presented. The virtual force and corresponding displacement can be calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.

AB - Micromanipulation has been recognized to be very difficult due to the inefficiency of traditional micromanipulation methods. The paper presents a general framework for micromanipulation robot based on virtual reality technology. Based on this, we bring forward Two-Level Collision Detection System to handle the collision detection of the peg-in-hole microassembly successfully. The collision response model for the collision between micro needle and hole is presented. The virtual force and corresponding displacement can be calculated with the model of bending deformation and pressing deformation. Experiments verify the validity of collision response model.

KW - Collision detection

KW - Collision response

KW - Microassembly

KW - Virtual reality

UR - https://www.scopus.com/pages/publications/4444239202

M3 - 论文

AN - SCOPUS:4444239202

SP - 3210

EP - 3213

T2 - WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings

Y2 - 15 June 2004 through 19 June 2004

ER -

A collision response method in virtual environment of peg-in-hole microassembly

Abstract

Conference

Keywords

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