Force Assumptions and Method
The haptic device can only render forces in 3 dimensions. The tooltip has no torque feedback so for this project the milling must be perpendicular to the real world material (voxel object). When the tool center point (TCP) enters the voxel object then force rendering starts.
First the force axis and force direction are computed from the initial contact point
First the force axis and force direction are computed from the initial contact point
- Force axis -- The x, y or z plane that the force will be rendered in
- force direction -- The direction in the plane to render the force. initial point - current point
While the TCP lies within the voxel object the force axis and force direction will remain the same. The user must exit the voxel object to reset the force axis.
Proper use of the milling--- Tool is held perpendicular to the voxel object at all times
- Milling at an angle will cause unexpected results and is unsafe!
- The tool should be exited from the voxel shell when changing the milling axis
posted by Tosowski at 5/03/2005 12:03:00 PM
4 Comments:
"The user must exit the voxel object to reset the force axis."
Do you mean the object you are trying to carve or a space on the outside that hasn't been completely removed yet. I find "voxel object" a bit ambiguous.
Also: you might start a page of definitions and define terms like "voxel". I'm thinking this will help when writing the thesis.
A definitions page has been created. The voxel object should mirror the original work piece. This is the 3D area.
There is a lot of information, so I would suggest to start looking through the archive first
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