Intensified haptic guidance for a 3D virtual maintenance environment optimized by an intelligent assembly planning algorithm
Syed Mafooq Ul Hassan, Jungwon Yoon · International Conference on Control, Automation and Systems · 2011
In this paper we present the novel use of haptic intensified information for 3D aircraft assembly simulation system. In simulation system an optimal assembly algorithm is used to assist the system providing optimal path for haptic guidance as well as the assembly sequence of the parts to be assembled. Several methods for intensified haptic guidance are analyzed in virtual environment along with their limitations and challenges. In active haptic guidance mode, the user is guided by the attractive forces from initial to final assembly position, whereas, in passive haptic guidance the optimal assembly algorithm provides optimal path guide on which movement of the user is allowed in the preferred direction and constrained in other directions. Experimental results showed that haptic passive guidance (HPG) mode gave the best performance improvements in terms of overall assembly time compared to the haptic active guidance (HAG) and haptic free mode (HF). It was observed that HPG mode not only guides user to his target but also the deviation from desired target path is reduced. The proposed guidance modes were tested with a haptic interface designed for virtual 3D aircraft assembly environment.