Motion constraints simulation based on MATLAB and haptic interface

This paper proposes a system to simulate the motion constraints on the serial robotic arm in the virtual reality world. The concept of guidance virtual fixture is involved in the control law of the human-machine collaborative system, which guides the user's motion along the preferred direction while preventing the disturbance along the non-proffered direction. Haptic device, Phantom Desktop¿, is used as the master device to manipulate the virtual robot as the slave device in the MATLAB and feeds back the force to the user. We proposed this method and haptic assisted system to simulate the kinematics and trajectory of the robot when user doing the manipulation. The simulation results verify the validity of our scheme.