Solutions to Previous Issues
Coordinate Mapping:
The coordinate mapping seems to work now. Code from simplehapticscene was incorporated into the project prototype. This gets the dimensions of the haptic workspace and creates the openGl viewing frustrum from these dimensions.
Collisions and Forces:
Collisions with the haptic cursor and the TRI object have been tested. There are scaling issues between the actual contact points of the TRI object and the cursor. The cursor can also
Collisions occur and forces are rendered. The SWIFT package has a function to query the distance to collision. This will also return a normal vector in the direction of the collision. This is the direction to render the force.
Orientation
Prototype currently reads in 3 points from the stock material to create the final translation thanks to code provided by Professor Horsch. This is created by reading in three points, the origin, a point along the positive x-axis and a point along the positive y-axis. The program calculates the coordinate system from these points. This will have to be documented later.
This code will be extended to read in a fourth point with an added restriction. This code is meant to get the orientation. I will extend the code to allow the dimensions to be read in. the fourth point will be along the x-axis. The restriction is that all points will have to be at corners.
This means that the stock material does not have to have a specific starting position. Once the stock material is secured to the working surface, the position is read in. This can be extended to allow the workpiece to be moved after the drilling process has been started. This assumes that the origin was not removed. Repositioning the workpiece can cause accuracy issues.
The coordinate mapping seems to work now. Code from simplehapticscene was incorporated into the project prototype. This gets the dimensions of the haptic workspace and creates the openGl viewing frustrum from these dimensions.
Collisions and Forces:
Collisions with the haptic cursor and the TRI object have been tested. There are scaling issues between the actual contact points of the TRI object and the cursor. The cursor can also
Collisions occur and forces are rendered. The SWIFT package has a function to query the distance to collision. This will also return a normal vector in the direction of the collision. This is the direction to render the force.
Orientation
Prototype currently reads in 3 points from the stock material to create the final translation thanks to code provided by Professor Horsch. This is created by reading in three points, the origin, a point along the positive x-axis and a point along the positive y-axis. The program calculates the coordinate system from these points. This will have to be documented later.
This code will be extended to read in a fourth point with an added restriction. This code is meant to get the orientation. I will extend the code to allow the dimensions to be read in. the fourth point will be along the x-axis. The restriction is that all points will have to be at corners.
This means that the stock material does not have to have a specific starting position. Once the stock material is secured to the working surface, the position is read in. This can be extended to allow the workpiece to be moved after the drilling process has been started. This assumes that the origin was not removed. Repositioning the workpiece can cause accuracy issues.
posted by Tosowski at 5/25/2005 05:35:00 PM
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