• 대한전기학회논문지:시스템및제어부문D
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• 제50권5호
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• pp.211-217
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• 2001

In this paper, we have developed the 6 DOF force display system to be based on the single PC. The system is composed of the force display device, the force reflecting rendering algorithm and the high-speed controller. The previous systems had a problem, that must adopt high performance workstation or 2-PC in order to control the graphics speedily and stably. In this paper, it is possible to improve the problem as to develop its exclusive controller and new rendering algorithm. The proposed new rendering algorithm is based on the Proxy algorithm, which can convert information of the position, the velocity, and the haptic information into the force-data. Especially, as to use the proxy algorithm, we can construct dynamical virtual-environment with the elasticity, the viscosity, the mass, and the friction force. As the result of the experiment, we found that our system has much superior characteristics than some other haptic interfaces, because it can control of 30,000 polygon model constructed virtual object with 1[kHz] haptic interrupt cycle and 20[Hz] graphic interrupt cycle in the single PC based system.