抄録
This paper proposes a new method for real-time rigid body simulations for haptic interfaces based on contact volume. Analytical methods for calculations of contact forces take too much time to keep fast update rates of haptic controls. In addition, they prohibit direct connection of haptic interfaces.
Penalty methods, which employ spring-damper model for calculations of contact force, are very fast per iterations. In addition, they permit direct connection of haptic interfaces. Therefore penalty methods are good for haptic interactions. However, previous penalty methods do not regard distribution of contact forces over contact area. They can't calculate normal and friction forces on face-face contacts correctly.
We suppose distributed spring-damper model on contact area to solve these problems. We analyze three dimensional shape of intersection part on polyhedral objects. Then, we integrate forces and torques of distributed spring-damper models.
We implement proposed simulator and compare it with point-based penalty method. It showed that only proposed simulator can simulate face-face contact and friction forces correctly. In addition, we connect a 6 DOF haptic interface to the simulator. Users can feel 6 DOF force feedback and input 6 DOF motion.
