An optimization method for penalty-based six-degrees-of-freedom haptic rendering system

• Our method is based on generalized penetration depth computation.
• We use a passing through method to resolve the pop-through problem in haptic rendering.
• We use the constraint method to enhance the local optimization processing.
• The method is simple and effective.

We present an optimization method which is based on generalized penetration depth computation algorithm to resolve the pop-through problem in six degrees of freedom haptic rendering system. Our optimization method can handle any type of object to object haptic interaction and produce high fidelity haptic feedback for general polygonal models with tens of thousands triangles near ideal haptic update rate 1000 Hz. The algorithm in our method is mainly based on a continuous collision detection method, using a contact-space projection technique which can compute the realtime contact configurations and record the position of visual semantic haptic probe, moreover, combined with iterative local optimization on the contact space and using a constraint method to minimum the local optimization result. The experiment results show our method can resolve the pop-through phenomenon in penalty-based haptic rendering system and can get the realistic force and torque feedback. We successfully integrated the method into a six degree of freedom haptic device.