This paper discusses development of a new bimanual interface configuration for virtual assembly consisting of a haptic device at one hand and a 6DOF tracking device at the other hand. The two devices form a multimodal interaction configuration facilitating unique interactions for virtual assembly. Tasks for virtual assembly can consist of both “one hand one object” and “bimanual single object” interactions. For one hand one object interactions this device configuration offers advantages in terms of increased manipulation workspace and provides a tradeoff between the cost effectiveness and mode of feedback. For bimanual single object manipulation an interaction method developed using this device configuration improves the realism and facilitates variation in precision of task of bimanual single object orientation. Furthermore another interaction method to expand the haptic device workspace using this configuration is introduced. The applicability of both these methods to the field of virtual assembly is discussed.
This research attempts to improve the spatial interaction in virtual assembly with a focus on bimanual object manipulation. Using a unique combination of spatial interaction devices namely a kinesthetic haptic device (Phantom
This research attempts to examine the eye in hand could execute fixtureless assembly operations. The flexible configuration for visual servoing as a means of adding flexibility assembly systems should assemble different products and to pick and place operations for an assembly work-cell. It is should be productive for longer periods than one product life researched if a closed loop system using the newest real time cycle. image processing hardware can be made. State of the art Visual servoing is defined as the use of machine vision to anthromorphic robot arm with a spherical wrist (6 axis) from provide closed-loop control of a robot end-effecter or mobile Kuka Germany and image processing with a high speed camera platform. Industrial robots typically operate "blind," having no from DVT corp. is employed for real time feedback. sensory input regarding the positions of objects within their The objects to be assembled were on a flat plane in any workspace. Subsequently, a large part of the cost for robotic orientation as in the existing industrial setup. A new algorithm installations is fixtures, tooling, and material-handling which employs 'error minimization in the image plane' without mechanisms. Visual servoing can provide both increased using camera calibration is developed and implemented to accuracy to a robotic manipulator and allow the robot to demonstrate satisfactory performance. function in a less constrained environment.
Kinesthetic haptic devices due to their typically small workspaces have limitations to their reach in virtual environments. In order to overcome this limitation a new interaction technique ‘Bimanual Stretched String Control of Haptic Workspace Mapping’ (BS-SCHWM) is developed using a unique combination of spatial interaction devices; namely a kinesthetic haptic device (Phantom Omni®) and a magnetically tracked device (Razer Hydra) each held in one of the user hands. The technique is implemented in the domain of virtual assembly. The virtual assembly simulation implemented in this research is based on physically based modeling approach using Voxmap PointShell library. Immersive stereo vision and spatial interaction devices enable natural interactions with the CAD models within the virtual assembly environment. The BS-SCHWM technique uses scene motion to map the haptic device workspace to different parts of the scene and provides means of controlling the direction and speed of scene motion. A bimanual cursor helps the user in visualizing the bimanual interaction paradigm. The facility of transporting objects using the technique is implemented. Schemes of measuring task completion and metrics for analyzing the interaction characteristics are designed. A preliminary evaluation of the BS-SCHWM technique with comparative analysis of its characteristics with an existing unimanual technique of haptic workspace expansion was achieved by conducting a within subject user study experiment. Participants were screened for normal visual acuity, stereopsis and manual dexterity. Analysis of the generated data provide good indicators for evaluation of hypotheses regarding participant performance, ease of use, hand motion and intuitiveness.
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