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Ortogonal Approach for Haptic Rendering Algorithm based in Conformal Geometric Algebra |
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PP: 113-124 |
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Author(s) |
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Gabriel Sepúlveda-Cervantes,
Edgar A. Portilla-Flores,
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Abstract |
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| This work presents a novel method for haptic rendering contact force and surface properties for virtual objects using the
Conformal Geometric Algebra orthogonal decomposition approach. The mathematical representation of geometric primitives along
with collision algorithms based on its mathematical properties is presented. The orthogonal decomposition of contact and interaction
forces is achieved using the same framework and dynamic properties in both subspaces are rendered simultaneously. Comparing with
vector calculus, the Conformal Geometric Algebra (CGA) approach provides an easier and more intuitive way to deal with haptic
rendering problems due to its inner properties and a simpler representation of geometric objects and linear transformation. The results
of the evaluation of the method using a 3 DOF haptic device are presented. |
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