Haptic Interaction within a Planar Environment

Abstract

A haptic simulation environment to simulate planar threedegree -of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interfacecontrol and outlines the control systems that have been designed for the haptic rendering of virtual environments. Virtual environment design and implementation are also discussed. Using the haptic simulation environment that has been developed, a four-channel teleoperationarchitecture is shown to beane#ective means to display a variety of simulated environments and is compared with apopular impedance-based approach