パラレルワイヤ駆動型力覚呈示装置における高速運動実現のための制御手法

概要

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In this paper, we consider virtual sports training system as a useful application of virtual reality. For such an application, the force display system especially needs two abilities of high speed motions and a large motion area, in addition to some general abilities for it. To satisfy those abilities simultaneously, one of good ways is to adopt parallel wire mechanism because this mechanism has good characteristics of low inertia and low viscosity. However, it have not been investigated which control method is better for this system. In this paper, firstly we reveal two problems on controlling this system under high speed motions: elasticity of this mechanism and influence of handle dynamics. For such problems, some control methods are proposed. Since proposed control methods are quite simple, it is easy to implement them. Some basic experimental results demonstrate effectiveness of those methods.
一般社団法人日本機械学会の論文
1998-06-25