System for the implementation and kinesthetic display of virtual environments

Paul Millman; Michael C. Stanley; Paul Grafing; J. Edward Colgate

doi:10.1117/12.142127

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26 March 1993 System for the implementation and kinesthetic display of virtual environments

Paul Millman, Michael C. Stanley, Paul Grafing, J. Edward Colgate

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Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142127
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A system for kinesthetic and visual display of virtual environments has been developed which includes a four degree-of-freedom, force-controlled manipulation and a parallel processing architecture for performing real-time environment simulation, manipulation control, and graphics display. The system allows a user to interact with a virtual environment via a virtual hand tool. 'Forces' at the handle of the virtual tool are experienced as real forces at the handle of the manipulandum. The problem of modeling environments composed of rigid bodies with intermittent contact has been addressed. Dynamic equations for environment simulations are generated and solved in real time by an array of interconnected microprocessors. Additional microprocessors safeguard against dangerous motor accelerations and potentially damaging manipulator configurations.

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Paul Millman, Michael C. Stanley, Paul Grafing, and J. Edward Colgate "System for the implementation and kinesthetic display of virtual environments", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142127

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