Maneuverable NURBS Models Within a Haptic Virtual Environment
4
T.V. Thompson II
D.D. Nelson
E. Cohen
J.M. Hollerbach
Proceedings of the 1997 ASME International Mechanical Engineering Congress and Exhibition, Dallas, TX, in press
1997 ASME
http://www.cs.utah.edu/projects/alpha1/papers/thompson97b.ps.Z
Haptic rendering should not be limited to immobile polygonal
models. This paper presents a system that performs Direct Parametric
Tracing (DPT) on maneuverable Non-Uniform Rational B-Splines (NURBS)
models without the use of an intermediate representation. The system
distributes computation between an advanced CAD modeling system and a
microprocessor controller for a Sarcos force-reflecting exoskeleton
arm. Methods ranging from model manipulation to simulation of the
dynamics of simple assemblies are discussed. Solutions to
synchronicity issues that arise in such a distributed system are also
described.