로봇 시뮬레이션에서 멀티테스킹 햅틱 인터페이스를 위한 햅틱 툴 팔레트와 햅틱 툴 모델링 도구의 구현

Abstract

This thesis proposes both algorithmic foundation and practical implementation of an user interface, named haptic tool palette, for multitasking haptic interface of robot simulation and develop the robot modeling tool, named rBuilder, for modeling haptic tools as robot and virtual environment for robot simulation. Virtual coupling methods is used for haptic rendering and TCP/IP network layer is used for connecting to the remotely located virtual environment. Then, multitasking haptic interface are implemented by applying haptic tool palette system as tool brushes of graphics tools. There are two original contributions of the current approach. The first is that haptic operator can do multiple tasks in the same simulation using only one haptic device by changing haptic tool. The second is that the tool for modeling makes the modeling virtual robot and virtual environment easy. The algorithms are implemented using C++, and its usability has been tested through a series of simulation examples.