An algorithm for operating an object in a haptic virtual environment

In this paper, an operation algorithm of a virtual object is proposed, using a 6-DOF haptic device in a virtual environment. Haptic sensation, such as a feeling of contact between objects, has an effect in raising efficiency of an operator's work. Motion of the operated object by the haptic device is composed of two motions. One is caused of two forces, gravity and operating force from the haptic device. The other is caused of colliding or contacting other objects. The former is obtained by numerical computation using Newton and Euler's equation. The latter is obtained by calculating change of motion by impulsive force between objects. By real-time computation of these motions, the operator could operate the object freely in the virtual environment. And the feeling of contact of the operated object could generate to the operator's hand through the haptic device, without penetration between objects. Since objects never interfere, it will be applicable in the field of mechanical design, such as verification of the assembly procedure of parts, examination of the validity of parts shape, etc..