Basic Algorithm of Controlling Passive Force Display System with Redundant Brakes
Basic Algorithm of Controlling Passive Force Display System with Redundant Brakes
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DOI：
10.1109/robot.2005.1570367
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
K. Koyanagi;T. Morita;J. Furusho
中科院分区：
文献类型：
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作者：
K. Koyanagi;T. Morita;J. Furusho
虚拟空间中的力信息是遥操作、训练、娱乐、设计支持等虚拟现实系统所需要的重要信息。被动施力虽然只使用被动元素是一种有效的安全保障手段，但它有一些难以表现力量的方向和连接姿势。针对这一问题，提出了一种利用冗余对制动来提高汽车操纵性的方法。这种方法可以显示虚拟物体的各种力的方向和各种姿势。本研究的目的是进一步提高冗余制动器系统的可控性。本文讨论了研制的冗余型系统的概况和基本实验。我们还提到了如何使用刹车来表示虚拟对象的各种位置和方向的算法。一些典型案例的实验结果证实了这一点。
Force information in virtual space is important and often required for tele-operation, training, amusement, design supporting, and other virtual reality systems. While passive force display which uses only passive elements is an effective method for assuring safety, it has some directions and link postures which are hard to present force. To this problem, a method for improvement of controllability using redundant couple of brakes had been suggested. This method was able to make it possible to display various force directions and various postures of virtual objects. The purpose of this study was further improvement of controllability of systems with redundant couple of brakes. In this paper, we discussed the outline of developed redundant-type system and basic experiments with it. We also mentioned an algorithm how to use the brakes to represent various positions and orientations of virtual objects. It was confirmed by experiments in some typical cases.