Physical model and collision detection algorithm are the key to the haptic rendering.The 7 dof haptic device was taken as example to introduce the feedback mechanism and electrical structure of haptic device.The haptic modeling method was analyzed and compared.The spring-mass model was introduced,and the plane structure model and solid model of spring-mass model was given.The advantages and disadvantages of the haptic rendering were analyzed,and the traversal algorithm of AABB method was proposed.The haptic interaction model of operation tool and virtual cylinder was set up in Chai 3D.The force feedback situation was analyzed to provide the theoretical basis for the research of haptic rendering.
国家科技期刊平台
NSTL
万方数据
维普
