Workspace analysis for haptic feedback manipulator in virtual cockpit system | Virtual Reality Skip to main content
Springer Nature Link
Log in

Workspace analysis for haptic feedback manipulator in virtual cockpit system

  • Original Article
  • Published:
Virtual Reality Aims and scope Submit manuscript

Abstract

To obtain natural space experience of haptic interaction for users in virtual cockpit systems (VCS), a haptic feedback system and a workspace analysis framework for haptic feedback manipulator (HFM) are presented in this paper. Firstly, improving the classical three-dimensional workspace obtained by the Monte Carlo method, a novel workspace representation method, oriented workspace, is presented, which can indicate both the position and the orientation of the end-effector. Then, aimed at the characters of HFMs, the oriented workspace is divided into the effective workspace and the prohibited area by extracting the control panel area. At last, the effective workspace volume and the control panel area are calculated by the double-directed extremum method, with the accuracy improved by repeatedly adding and extracting boundary points. By simulation, the area in which interactions between the manipulator and users hand performed is determined and accordingly the effective workspace along with its boundary and volume are obtained in a relative high precision, which lay a basis for haptic interaction in VCS.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19
Fig. 20

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Alameldin TK, Badler N, Sobh T, Mihali R (2014) A computational approach for constructing the reachable workspaces for redundant manipulators. Int J Comput 2(1):48–52

    Google Scholar 

  • Bihari B, Kumar D, Jha C, Rathore VS, Dash AK (2016) A geometric approach for the workspace analysis of two symmetric planar parallel manipulators. Robotica 34(04):738–763

    Article  Google Scholar 

  • Cao Y, Lu K, Li X, Zang Y (2011) Accurate numerical methods for computing 2d and 3d robot workspace. Int J Adv Robot Syst 8(6):1–13

    Article  Google Scholar 

  • Ceccarelli M, Liang C (2013) A formulation for automatic generation of workspace boundary of nr manipulators. Int J Mech Robot Syst 1(1):2–14

    Article  Google Scholar 

  • Cui Z, Diao Y, Han L, Luo J, Wang Q (2016) Research of the algorithm for robot workspace boundary extraction. J Mech Transm 40(2):85–87

    Google Scholar 

  • Dai S, Lei X, Mei J (2002) Virtual cockpit system. J Syst Simul 14(4):488–492

    Google Scholar 

  • Hatledal LI, Sanfilippo F, Chu Y, Zhang H (2015) A voxel-based numerical method for computing and visualising the workspace of offshore cranes. In: ASME 2015 34th international conference on ocean, offshore and arctic engineering. American Society of Mechanical Engineers, p V001T01A012

  • Hentz G, Charpentier I, Renaud P (2016) Higher-order continuation for the determination of robot workspace boundaries. Comptes Rendus Mécanique 344(2):95–101

    Article  Google Scholar 

  • Hou Y, Wang C, Hu X, Zeng D, Zhao Y (2015) A new method for workspace boundary extraction for jointed serial robot. J Mech Des 26(3):308–318

    Google Scholar 

  • Jauer P, Kuhlemann I, Ernst F, Schweikard A (2016) Gpu-based real-time 3d workspace generation of arbitrary serial manipulators. In: 2016 2nd International conference on control, automation and robotics (ICCAR). IEEE, pp 56–61

  • Liu S, Xu J (1989) On the workspace and the dexterity of general industrial robot. J Univ Sci Technol Beijing 11(2):142–147

    Google Scholar 

  • Liu X, Lu X, Zhao S (2012) Three methods for solving power tower climbing robot workspace. J Mach Des 29(5):10–14

    Google Scholar 

  • Liu Z, Liu H, Luo Z, Zhang X (2013) Improvement on monte carlo method for robot workspace determination. Trans Chin Soc Agric Mach 44(1):230–235

    Google Scholar 

  • Porges O, Stouraitis T, Borst C, Roa MA (2014) Reachability and capability analysis for manipulation tasks. In: ROBOT2013: first Iberian robotics conference. Springer, pp 703–718

  • Rastegar J, Perel D (1990) Generation of manipulator workspace boundary geometry using the Monte Carlo method and interactive computer graphics. J Mech Des 112(3):452–454

    Article  Google Scholar 

  • Tang Y (2012) Research on key technologies for augmented semi-virtual reality cockpit. Ph.D. thesis, Nanjing University of Aeronautics and Astronautics

  • Thomas M, Tesar D (1982) Dynamic modeling of serial manipulator arms. J Dyn Syst Meas Control 104(3):218–228

    Article  Google Scholar 

  • Tian H, Ma H, Wei J (2013) Workspace and structural parameters analysis for manipulator of serial robot. Trans Chin Soc Agric Mach 44(4):196–201

    Google Scholar 

  • Wang D, Jiao J, Zhang Y, Zhao X (2016) Computer haptics: haptic modeling and rendering in virtual reality environments. J Comput Aided Des Comput Gr 28(6):881–895

    Google Scholar 

  • Yang J, Abdel-Malek K, Zhang Y (2008) On the workspace boundary determination of serial manipulators with non-unilateral constraints. Robot Comput Integr Manuf 24(1):60–76

    Article  Google Scholar 

  • Yin F, Wang Y, Yu H (2010) Workspace boundary extraction of deicing robot based on monte carlo method. Control Theory Appl 27(7):891–896

    Google Scholar 

  • Yu T (2008) Semi-virtual reality cockpit technology research based on data glove. Ph.D. thesis, Nanjing University of Aeronautics and Astronautics

  • Zhong Y, Jianxin Z (2004) A new method for robot workspace calculation. Mach Tool Hydraul 4:66–67

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, XueYuan Road No.37, HaiDian District, Beijing, China

    Shiyu Zhang & Shuling Dai

Authors
  1. Shiyu Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shuling Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Shuling Dai.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhang, S., Dai, S. Workspace analysis for haptic feedback manipulator in virtual cockpit system. Virtual Reality 22, 321–338 (2018). https://doi.org/10.1007/s10055-017-0327-y

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10055-017-0327-y

Keywords

Search

Navigation