A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha.1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

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