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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.
신석두,강원찬,오금곤,김영동 조선대학교 에너지.자원신기술연구소 2000 에너지·자원신기술연구소 논문지 Vol.22 No.2
In this paper, we have developed a new Force-Display system using tendon-driven method. 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 point. As the result of the experiment, our proposed system shows much higher resolution than any others.
강원찬,신석두,김영동 조선대학교 에너지.자원신기술연구소 2000 에너지·자원신기술연구소 논문지 Vol.22 No.2
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 position and transmit the force data to device rapidly. 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 proposed 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. The system is so efficient in a 1 PC-based system with l[kHz] haptic interrupt cycle.
강원찬,김동옥,신석두,김영동 전력전자학회 1999 전력전자학회 논문지 Vol.4 No.5
본 논문에서는 가상환경 내의 물체로부터 역감을 얻을 수 있는 3자유도 힘 반향 장치를 제안한다. 이 시스템은 디바이스와 가상환경의 모델과 힘 반향 렌더링 알고리즘 등으로 구성되었다. 평행링크 메커니즘과 와이어에 의한 토크전달 그리고 임피던스 제어가 가능한 제어기를 사용해 3자유도 힘 반향 역감장치(Force-reflecting device)를 설계하였다. 위치 함수만으로 계산되는 힘 반향동작은 God-Object 알고리즘을 사용했다. 3차원 가상물체와 시험 제작한 역감장치(Force-reflecting device)를 인터페이스 실험을 통해 3차원 가상물체와 접촉과 비접촉 그리고 푸쉬 버튼을 만지는 느낌을 검출하였다. In this paper, we present the 3DOF force-rei1ecting interface which allows to acquire force of objc'Ct within a a virtual environment. This system is comlxlsed of device, virtual environment model, and force-rei1ecting r rendering algorithm. We design a J DOF force reflecting device using the pc$\alpha$allel linkage, torque shared by W wire, and the controller of system applied by impedance control algorithm. The force reflecting behaviour i implemented as a function position is equivalent to controlling the mechanical impedance felt by the user. E Especially how force should be supplied to user, we know using a God-Object algorithm As we experiment a system implement$\varepsilon$d by the interface of 3D virtual object and 3DOF force reJll'Cting i interface, we can feel a contact, non contact of :)D virtual object surface and sensin앙 of push button model.utton model.