Haptic Assembly and Disassembly Task Assistance using Interactive Path Planning

• Published in: 2009 IEEE Virtual Reality Conference pp. 19 - 25
• Main Authors: Ladeveze, Nicolas, Fourquet, Jean Yves, Puel, Bernard, Taix, Michel
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.03.2009
• Subjects: [J.6]: Computer-Aided Design- Computer Aided Design; A star; Assembly; Computational modeling; Computer graphics; Design automation; H.5.2 [User Interfaces]: Haptic I/O; Haptic interfaces; Haptics; I.2.9 [Artificial Intelligence]: Robotics-Workcell organization and planning; I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism - Virtual reality; J.2 [Physical Sciences And Engineering]: Engineering; Layout; Motion planning; Octree; Path planning; Rapidly Exploring Deterministic Tree; Testing; Virtual reality
• ISBN: 9781424439430; 1424439434
• ISSN: 1087-8270
• DOI: 10.1109/VR.2009.4810993

This paper describes a global interactive scheme including fast motion planning and real time guiding force for 3D CAD part assembly or disassembly tasks. For real time purpose, the motion planner is divided into different steps. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using those computed data, a second part tries to find a collision free path in real time. Once the path is found, an haptic artificial force is applied constraining the user on the path. The user can then influence the planner by not following the path and automatically order a new path research. The performance of this haptic assistance is measured on a test simulation based on an ALSTOM power components assembly simulation.