Traitement générique des interactions haptiques pour l'assemblage d'objets issus de CAO

Loïc Tching 1
1 BUNRAKU - Perception, decision and action of real and virtual humans in virtual environments and impact on real environments
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, ENS Cachan - École normale supérieure - Cachan, Inria Rennes – Bretagne Atlantique
Abstract : In this thesis, we are interested in the treatment of interactions between 3D objects in the specific context of haptic assemblies. The aim of the thesis is to study the different dynamic modes that are applicable to the simulation of CAD assemblies. This field of research involves several scientific and technologic issues on the coupling of haptic interfaces with dynamic simulation engines. The interactive-time constraint forces dynamic engine to detect collisions and compute the contact forces very quickly, following a stability criterion. In this context, we propose to apply the technology of haptic interaction to manage mechanical assemblies of CAD objects. Among the many factors that influence the degree of realism of an interactive simulation of assembly, we focus on the realism of the behaviour of physical objects and on the performance of users achieving assembly tasks. In the context of haptic simulations, we propose to address these two factors simultaneously. Within a single assembly simulation, the user will feel realistic dynamic behaviour during elementary interactions with the virtual environment, while performing A/D tasks in an efficient way. In the simulations of assembly, we identified two handling phases where the contact dynamics can be performed: either in a constrained way to help users to position objects in space, or in a non-constrained way to return realistic haptic interactions. The approach is to separate the interactions related to the exploration scenes, from the interactions related to assemblies. Within a single simulation, we propose to use unconstrained dynamic models to process exploratory phase and the use of constrained dynamic models to process haptic assembly. In a first contribution, we propose to use a rigorous modelling of mechanics to simulate realistic behaviours of objects: we use the methods of non-smooth dynamics and especially the non-smooth contact dynamics (NSCD) approaches. In a second contribution, we propose to identify the different stages that compose the interactive assembly to assist the user. This assistance consists in a virtual guidance composed of geometrical and kinematical constraints applied to the control of the objects to assemble. We present a new method of guidance, called virtual constraint guidance that applies kinematical constraints that depend on the assembly tasks. The transition between the exploratory mode and the assembly mode is made by a geometric guidance inspired by virtual fixtures.
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Loïc Tching. Traitement générique des interactions haptiques pour l'assemblage d'objets issus de CAO. Autre [cs.OH]. INSA de Rennes, 2010. Français. ⟨tel-00470327⟩

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