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This paper presents the development of a new software in order to manageobjects, robots and mannequins in using the possibilities given by the hapticfeedback of the Phantom desktop devices. The haptic device provides 6positional degrees of freedom sensing but three degrees force feedback. Thissoftware called eM-Virtual Desktop is integrated in the Tecnomatix's solutioncalled eM-Workplace. The eM-Workplace provides powerful solutions for planningand designing of complex assembly facilities, lines and workplaces. In thedigital mockup context, the haptic interfaces can be used to reduce thedevelopment cycle of products. Three different loops are used to manage thegraphic, the collision detection and the haptic feedback according to theirsown frequencies. The developed software is currently tested in industrialcontext by a European automotive constructor.

Haptic devices and objects, robots and mannequin simulation in a CAD-CAM software: eM-Virtual Desktop