力覚仮想環境における非凸形状物体の操作

抄録

New digital-mockup technology to cut back the development cost and time for a new product is required, which can perform check of the validity of parts shape and also examine an assembly procedure on a screen. In this paper, a collision-detection algorithm and an object-operation algorithm are proposed, which are required to operate a non-convex shape object in a haptic virtual environment. In the collision detection algorithm, point cloud is used to represent the shape of an operated object by a 6-DOF haptic device, triangular polyhedron is used to represent the other objects. The collision detection algorithm finds pairs of point and triangle with nearest distance between them. In the object operation algorithm, the motion of the operated object is decided from two forces, one is operating force by the haptic device and the other is impulsive force generated at the time of contact. The validity of these algorithms were confirmed by the experiments using the non-convex shape objects designed by 3-D CAD system.