An optimization method for penalty-based six-degrees-of-freedom haptic rendering system
作者：
Highlights：
• 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.
摘要
•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.
论文关键词：Optimization,Haptic rendering,Pop-through,Penetration depth
论文评审过程：Available online 10 April 2015, Version of Record 3 December 2015.
论文官网地址：https://doi.org/10.1016/j.image.2015.03.011
