Environment modeling for the interactive display (EMID) used in telerobotic systems

Discusses a method of calculating the interaction forces produced between objects which will contact in model space. Recently, needs of robotic simulators are increasing to provide efficient off-line teaching tools, effective human-robot interfaces for telerobotic systems and so on. In almost simulators, currently operators can see good images of the environments to be manipulated by introducing computer graphics techniques. However, such simulators only can display the environments unilaterally without feeling any constraint force which will occur during teaching tasks. In some applications of the simulators, the lack of force feedback causes low efficiency of the system. In order to overcome this problem, a method which can generate constraint forces in a model world is proposed, which will be called the EMID (environment modeling for the interactive display) system. After the method is formulated, using the EMID method will be confirmed