3자유도 힘 반향 역감장치

3DOF Force-Reflecting interface

  • 강원찬 (조선대학교 공과대학 제어계측공학과) ;
  • 박진석 (조선대학교 공과대학 제어계측공학과) ;
  • 김대현 (조선대학교 공과대학 제어계측공학과) ;
  • 신석두 (조선이공대학 전기과) ;
  • 김영동 (조선대학교 공과대학 제어계측공학과)
  • 발행 : 1999.07.01

초록

In this paper, we present the 3DOF force-reflecting interface which allows to acquire force of object within a virtual environment. This system is composed of device, virtual environment model, and force-reflecting rendering algorithm. We design a 3 DOF force-reflecting device using the parallel linkage, torque shared by wire, and the controller of system applied by impedance control algorithm. The force-reflecting behaviour implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. Especially how force should be supplied to user, we know using a God-Object algorithm. As we experiment a system implemented by the interface of 3D virtual object and 3DOF force-reflecting interface, we can feel a contact, non-contact of 3D virtual object surface and sensing of push button model.

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