一种面向协同式触觉虚拟装配系统的触觉渲染方法

A Haptic Rendering Method for Haptic-based Collaborative Virtual Assembly System

基于C/S结构的触觉式协同虚拟装配系统,提出了一种基于接触状态预测的协同式触觉渲染方法。该方法在服务端预测基本的接触状态,在客户端根据本地HIP的位置和从服务器端接收到的接触状态计算具体的反馈力,发送给该本地的触觉设备。该方法可以大大的减轻网络传输的负荷,减少由于HIP位置预测误差和网络延时扰动造成的反馈力计算误差。该方法适用于固定曲率和曲率小变化的曲线和曲面体的渲染。

Based on the haptic -based collaborative virtual assembly system, a contact elements prediction based haptic rendering method is proposed. This method is conducted at both server and client side. The server predicts the basic contact elements using haptic rendering model. At client side, according to the local HIP position and basic contact elements received from server, the finial feedback force to be sent to PHANTOM device is estimated under the invariability assumption of contact elements. This method not only can reduce the network transfer load greatly, but also can reduce the effects of both HIP position prediction error and network jitter. It is suitable for haptic rendering of surfaces and lines with invariable or slight variant curve.