Abstract: A new method to resolve constraints navigation based on incremental driving and principle of merging freedoms is presented. According to the method, locations increment and orientations increment of FOB are used to drive virtual tools, and then the constraints are resolved based on principle of merging freedoms. The method is used in integrated virtual assembly environment, IVAE. The test results in IVAE showe that the method can solve the problem of driving virtual tools, and can commendably meet the need of the real time display and interaction real-time in virtual environment.

Key words: Constraint navigation, Virtual assembly (VA), Virtual reality (VR)