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Manipulation collaborative distante à retour d'effort : application au prototypage virtuel

Mathieu Gautier 1
1 LSI - Laboratoire Simulation Interactive
DIASI - Département Intelligence Ambiante et Systèmes Interactifs : DRT/LIST/DIASI
Abstract : Nowadays, industrial applications are increasingly relying on digital mock-ups. Indeed, the use of virtual environments for prototyping tasks replaces the need of real mock-ups. The manipulation of virtual objects requires the use of force feedback interfaces to make the interaction more intuitive. At the same time, the industrial design processes depends more and more on collaborative works between remote locations. In this context, the use of a distributed collaborative environment with force feedback between several locations would increase the use of such digital tools in a collaborative framework. To do so, we propose a platform based on a peer to peer architecture to manipulate objects simultaneously in a virtual environment. Especially, we present the integration of a 6 degrees of freedom haptic feedback taking into account the delays introduced by the distance between remote locations. To ensure system stability, we develop two methods inspired by the teleoperation field. The first one is based on proportional derivative controllers in the case of small delays. The second one is based on the wave variables transform. This last method is stable regardless of the delay. Finally, we suggest to use event-based haptic to increase the user experience in a collaborative environment. This method consists in superimposing high frequency transient forces to the traditional haptic feedback. We present an evaluation of this approach.
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  • HAL Id : tel-00813368, version 1

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Mathieu Gautier. Manipulation collaborative distante à retour d'effort : application au prototypage virtuel. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2009. Français. ⟨NNT : 2009PA066643⟩. ⟨tel-00813368⟩

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