A Framework for the Simulation and Haptic Display of Dynamic Systems Subject to Holonomic Constraints

In this paper we present a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.