Real-time Impulse-based Simulation of Rigid Body Systems for Haptic Display

  title={Real-time Impulse-based Simulation of Rigid Body Systems for Haptic Display},
  author={Beeling Chang and J. Edward Colgate},
To date, haptic interfaces have rarely been used to display complex virtual environments such as those involving 3D mechanical assembly operations, or the use of hand tools. Of the limitations which have been encountered, one is the absence of suitable simulation techniques which provide a general, user-defined virtual environment. This paper discusses the use of an impulse-based simulation as a general purpose multibody simulator for haptic display. This technique uses Poisson's hypothesis in… CONTINUE READING
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