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force display system

Robotica (1)

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Analysis and control of a force display system driven by parallel wire mechanism
Tetsuya Morizono, Kazuhiro Kurahashi, Sadao Kawamura
Journal:

Robotica / Volume 16 / Issue 5 / September 1998

Published online by Cambridge University Press:

01 September 1998, pp. 551-563
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In this paper, we develop a force display system using parallel wire mechanism for virtual sports training with high speed motion. We firstly point out a control issue of the force display system driven by parallel wire mechanism. Based on the analysis, control laws are proposed to improve performance of the force display system. It is experimentally demonstrated that the proposed control laws realize higher acceleration and lower reaction force than other force display systems. Using the experimental result, the performance of the system is evaluated quantitatively.