低刷新率下力反射装置补偿方法研究

2011 Fourth International Conference on Intelligent Computation Technology and Automation Pub Date : 2011-03-28 DOI:10.1109/ICICTA.2011.143

Yang Guang, Wang Shuo, Chou Wusheng

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引用次数: 0

摘要

针对低新鲜率下的内插补偿问题，提出了一种保证系统稳定性的控制算法。与数值插值结果相比，该结果满足了系统稳定性的要求。补偿算法在主线程中使用异步回调函数以非阻塞模式运行。由于稳定性的提高，透明度可能会降低。为了提高系统的有效阻抗，提出了单个弹簧与虚拟环境并联的虚拟耦合方法。仿真结果表明，该算法不仅保持了系统的稳定性，而且提高了系统的透明性。

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Study on the Compensation Method of Force Reflective Equipment Under Low Fresh Rate

A control algorithm ensuring the stability of system was proposed to solve the problem of interpolated compensation under low fresh rate. The result satisfied the demand of system stability other than the result of numeric interpolation. The compensation algorithm in main thread ran in the non-blocking mode by using an asynchronous callback function. As a result of improving stability, the transparency might be degraded. A method of virtual coupling which individual spring was in parallel connection with virtual environment was proposed to increase effective impedance of system. Simulation results show that the proposed algorithm can not only keep stability, but also improve the transparency of system.

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来源期刊

2011 Fourth International Conference on Intelligent Computation Technology and Automation

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