제어로봇시스템학회:학술대회논문집
- 1997.10a
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- Pages.1714-1717
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- 1997
A Ftudy of Force Generation Algorithm Based on Virtual Environments
가상환경에서의 힘생성기법 연구
Abstract
A human operator is able to perform some tasks smoothly with force feedvack for the teleoperation or a virtual device in a the virtual environments. This paper describes a virtual force generation method with which operator can feel the interactive force between virtula robot and artificial environments. A virtual force generation algortihm is applied to generate the contact force at the arbitrary point of virtual robot, and the virtual force is displayed to the human operator via a tendon master arm consisted with 3 motors. Some experiments has beencarried out to verify the effectiveness of the force generation algorithm and usefulness of the developed backdrivable master arm.
Keywords