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신석두,강원찬,김동옥,김원배,김영동,Shin, Suck-Doo,Kang, Won-Chan,Kim, Dong-Ok,Kim, Won-Bae,Kim, Young-Dong 대한전기학회 2001 전기학회논문지 D Vol.50 No.4
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.
강원찬(Won-Chan Kang),김동옥(Dong-Ok Kim),신석두(Suck-Doo Shin),김영동(Young-Dong Kim) 전력전자학회 2000 전력전자학술대회 논문집 Vol.2000 No.11
In this paper, We have developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology, which can calculate the real positoon and transmit the force data to device rapidly<br/> The haptic system is composed of 6DOF force display device, high-speed controller. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system, we designed simulation program of force-reflecting As the result of the experiment, we found that the controller has much higher resolution than some other controllers. It is so efficient in a I PC-based system with 1[kHz] haptic interrupt cycle.
강원찬(Won-Chan Kang),김동옥(Dong-Ok Kim),김원배(Won-Bae Kim),신석두(Suck-Doo Shin),김영동(Young-Dong Kim) 전력전자학회 2001 전력전자학술대회 논문집 Vol.2001 No.7
In this paper, we have developed a new Force-Display system using tendon-driven method based multiple DC motors. The proposed system is based on the HIR Lab Haptic library, which calculates the real position and renders the reflecting force data to device rapidly. The system is composed of device based tendon-driving method, high-speed controller and Haptic rendering library. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system, we designed simulation program, which can display the moving force (attaching, grabbing, rotating) on two virtual points. As the result of the experiment, our proposed system shows much higher resolution than any others.<br/>