Realistic Rendering of Kinetostatic Indices of Mechanisms

Damien Chablat (1) , Fouad Bennis (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of the workspace of mechanisms as well as its kinetostatic properties. Indeed, these concepts are abstract and thus often difficult to understand for the end-users. To catch his attention, we propose to amplify the problems of the mechanisms in order to help him to take the good decisions.

Mots clés: Kinetostatic properties; Mechanisms; Virtual reality devices; Simulation; Virtual manufacturing

Domaines: Robotique [cs.RO]

Damien Chablat, Fouad Bennis. Realistic Rendering of Kinetostatic Indices of Mechanisms. 2003, Biarritz, France. pp.1-8. ⟨hal-00145369⟩