Optimization-based virtual surface contact manipulation at force control rates

Previous interactive works have used springs, heuristics, and dynamics for surface placement applications. We present an analytical technique for kilohertz rate manipulation of CAD models with virtual surface and trimming constraints. The optimization approach allows best placement and sensitivity analysis for mechanical design objectives and parametric domain objectives. Such objectives are not readily incorporated into previous interactive methods. Force feedback is rendered to the user using previously developed haptics principles.