Interactive control of articulated structures in the virtual space.

by Kwok Lai Ho Victor.Thesis (M.Phil.)--Chinese University of Hong Kong, 1998.Includes bibliographical references (leaves 77-82).Abstract also in Chinese.Chapter 1 --- Introduction --- p.1Chapter 2 --- Background --- p.5Chapter 2.1 --- History of Robotics --- p.5Chapter 2.2 --- Autonomous Robot Systems --- p.7Chapter 2.3 --- 3D Windowing Simulators --- p.8Chapter 2.4 --- Robot Simulation in VR --- p.8Chapter 3 --- Objective --- p.11Chapter 4 --- Articulated Structures --- p.13Chapter 4.1 --- Joints and links --- p.13Chapter 4.2 --- Degrees of Freedom --- p.16Chapter 4.3 --- Denavit-Hartenberg Notation --- p.17Chapter 5 --- Virtual Manipulators --- p.20Chapter 5.1 --- Arm(N-link) Structure --- p.20Chapter 5.2 --- Hand Model --- p.24Chapter 6 --- Motion Control Techniques --- p.27Chapter 6.1 --- Kinematics --- p.27Chapter 6.1.1 --- Forward Kinematics --- p.27Chapter 6.1.2 --- Inverse Kinematics --- p.29Chapter 6.1.3 --- Solving Kinematics Problem --- p.29Chapter 6.1.4 --- Redundancy --- p.31Chapter 6.1.5 --- Singularities --- p.32Chapter 6.2 --- Dynamics --- p.33Chapter 6.2.1 --- Forward Dynamics --- p.34Chapter 6.2.2 --- Inverse Dynamics --- p.35Chapter 6.3 --- Combination of Two Control Modes --- p.35Chapter 6.4 --- Constraints and Optimization --- p.36Chapter 7 --- Physical Feedback Systems --- p.38Chapter 7.1 --- Touch Feedback --- p.39Chapter 7.2 --- Force Feedback --- p.41Chapter 7.3 --- Force/Touch Feedback Systems --- p.42Chapter 8 --- Virtual Object Manipulation --- p.43Chapter 8.1 --- Previous Work --- p.44Chapter 8.2 --- Physics-based Virtual-hand Grasping --- p.45Chapter 8.3 --- Visual Correction --- p.43Chapter 8.3.1 --- Joint Correction --- p.50Chapter 8.3.2 --- Odd Finger Configurations --- p.51Chapter 8.4 --- Active Grasping --- p.52Chapter 8.5 --- Collision Detection of Complex Objects --- p.54Chapter 9 --- Experiments --- p.57Chapter 9.1 --- System Architecture --- p.57Chapter 9.1.1 --- Tracking System --- p.53Chapter 9.1.2 --- Glove System --- p.59Chapter 9.1.3 --- Host Computer --- p.60Chapter 9.2 --- Experimental Results --- p.60Chapter 9.2.1 --- General application --- p.61Chapter 9.2.2 --- Relationship between frictional coefficient and mass of the object --- p.61Chapter 10 --- Conclusions --- p.67Chapter 10.1 --- Summary --- p.67Chapter 10.2 --- Contributions --- p.69Chapter 10.3 --- Future Work --- p.69Chapter A --- Description files --- p.71Chapter A.1 --- Scene Description --- p.71Chapter A.2 --- Hand Description --- p.73Bibliography --- p.7