ADMITTANCE MODEL INPUT AND OUTPUT CONTROL SYSTEM FOR STABILIZING STATE OF HAPTIC DEVICE AND METHOD THEREOF
The present invention refers to method relates to system and method number search input, specifically state for stabilizing-admittance model (admittance model) to which output number system and method method, more specifically the haptic device state of stabilization (haptic device) A method for-admittance model output number system and method are disclosed. -admittance model (admittance model) virtual environment interaction (interaction) high impedance (virtual environments) impedance (impedance model apparatus) has an advantage of many advantages over a device model. However, -admittance model the performance of the low-range (lower boundary) and without (stability issue) issues which can be stable impedance of one pin is often masked by the hand-number number point coordinates door. In particular, -admittance model has a low inertia values often unstable interaction causes known. -admittance model is a dental (dental), the drilling (bone drilling), welding simulator (welding simulator) is utilized in which a variety of region, haptic interaction etc. when required to ensure that the very high impedance range. Impedance model device having a range of impedance of nearly maximum while-admittance model very low range of impedance range. -admittance model when applying a process stabilizing existing impedance model device status with respect to rotate and the, high impedance range of stable door number point that the pin is in a proper state. The purpose of the invention is for stabilizing-admittance model output number is fed back for a number of haptic device or a reversed F. [...]. It is another object of the present invention is a method for stabilizing-admittance model number of haptic device or a reversed F. [...] output number. Purpose of the invention according to above state of haptic device for stabilizing-admittance model number input system then, the force of the human operator (human operator) On force Receives drive force summation, driving according to position Haptic device outputting-admittance type (admittance type) (haptic device); speed For driving said haptic device receives said force Calculated, the calculated force Said haptic device based on input regarding number of stabilizing position or velocity law (position or velocity controller); the force of said human operator Receives said speed Calculated, said calculated speed Modifying said haptic device based on input manner of stabilizing ADM (admittance model) can be configured to include. Wherein, the ADM, force of said human operator A transform to the type By applying output speed The I.D. Outputting said ADM can be configured to input. The, said A, Can be composed. The ADM and, said force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the sign of the change other code for input (+) can be configured. On the other hand, the violations of the number said position or velocity, said force number position or velocity calculated in the RAT For By applying the calculated output value, the output value calculated said output speed The subtracted from Said modeled input to the e-book number position or velocity can be configured. The, said A, Can be composed. Another object of the present invention according to the above-described method is the number of haptic device for stabilizing-admittance model output, the human operator of the force ADM (admittance model) The speed receives Calculates, -admittance type (admittance type) of said to stabilize the speed calculated haptic device (haptic device) Regarding input based on said speed Outputting; said ADM is output speed violations of the number position or velocity (position or velocity controller) For driving said haptic device receives said force Calculated, said haptic device to stabilize said calculated force Regarding force based on said input Computing; force of said human operator said haptic device On force Placed in communication with a force summation devices driven Outputting can be adapted to contain. Wherein, said ADM force of the human operator The speed receives Calculates, -admittance type haptic device to stabilize said calculated speed Regarding input based on said speed Outputting the, force of said human operator A transform to the type By applying output speed The I.D. Outputting said ADM can be configured to input. The, said A, Can be composed. The human operator of the force and said ADM The speed receives Calculates, -admittance type haptic device to stabilize said calculated speed Regarding input based on said speed The outputting, said force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the sign of the change other code for input (+) can be configured. On the other hand, number said ADM [...] said position or velocity output speed For driving said haptic device receives said force Calculated, said haptic device to stabilize said calculated force Regarding force based on said input The computing, violations of the number calculated in said position or velocity force For By applying the calculated output value, the output value calculated said output speed The subtracted from Said modeled input to the e-book number position or velocity can be configured. The, said A, Can be composed. The aforementioned haptic device for stabilizing-admittance model the state of output number system and method method, in the present invention-admittance haptic device (lower boundary) status of stabilizing effect range of lower limits further lower impedance of flow tides. The constitution of the invention can be approximately 10 driven several times by time area than in approximately equal to or less than. Figure 1 shows a haptic device of the present invention also one in the embodiment according to the state of output number system for a block configuration for stabilizing-admittance model are disclosed. In the embodiment according to Figure 2 of the present invention represents a reaction force reaction one position are disclosed. In the embodiment according to Figure 3 of the present invention represents a reaction force reaction one position are disclosed. Figure 4 the present invention according to impedance represents a range are disclosed. Figure 5 shows a device of the present invention for stabilizing the output number one in the embodiment according to-admittance type model also state of flow of method are disclosed. The present invention refers to various modification may have various can apply in the embodiment bar, drawing a specific embodiment the invention embodiment examples and detailed example for specific content broadcast receiver. However, the present invention is defined with respect to a particular embodiment form which are not included, all changing range of idea and techniques of the present invention, including the water to replacement should understood to evenly. Each drawing are described as well as a component while similar references in a similar. Number 1, number 2, A, B describes various components such as term can be used but, in terms of said components are defined by said back like. Components are mounted to one of said terms are used only distinguished from other components of the object. For example, number 1 number 2 outside of the range of the present invention rights without components can be termed components, similarly number 2 of the elements can be termed component number 1. And/or a combination of a number of associated terms that items substrate any of the item comprises an item stored in a plurality of associated substrate. Any component and other components "connected" or folder "connected" when referred to that, or the other components connected directly or may be connected, other components might lead to intermediate is present it will will be. While, any component and other components referred to as "directly connected" or folder that when "directly connected to", should be understood to does not exist in the middle of other components will. A term used in a particular application only is used to account for in the embodiment, the present invention intending to be define is endured. It is apparent that a single representation of the differently in order not providing language translators, comprising plurality of representation. In the application, the term "comprising" or "having disclosed" specification of articles feature, number, step, operation, components, parts or specify a combination not present included, another aspect of one or more moveable number, step, operation, component, component or a combination of these is understood to presence of or additionally pre-times those possibility should not number. Not defined differently, scientific or technical terms so that all terms in the present invention thus is provided to the person with skill in the art will generally have the meanings etc. by same. Dictionary used for such as generally defined on the context of respective technical terms have the meanings must be consistent semantics and having interprets, the application will not become manifest in defining, or overly formal sense interpreted not ideal. Hereinafter, the present invention according to preferred embodiment with reference to the attached drawing a detailed as follows. Figure 1 shows a haptic device of the present invention also one in the embodiment according to the state of output number system for a block configuration for stabilizing-admittance model are disclosed. The first reference also 1, haptic device of the present invention a system for stabilizing a-admittance model number one in the embodiment according to the state of the output (100) (haptic device) the haptic device (110), position or velocity violations of the number (120) and ADM (admittance model) (130) can be configured to include. Hereinafter, detail configuration is described as follows. First haptic device (110) is-admittance type devices are disclosed. Haptic device (110) includes a robot (robot) as human operator (human operator) (10) force On force Receives drive force summation, driving according to position Varying signal as can be. Wherein, position position (Encoder) can be measured by encoder. In the case of position (position) or speed (velocity) impedance (impedance) type haptic device input value (trigger) to enhance but, -admittance (force (force) (admittance) type haptic device can be configured to enhance input value. Violations of the number position or velocity (120) is ADM (130) from speed From the haptic device (110) for driving force Calculated can be configured. Wherein, position or velocity violations of the number (120) includes a force calculation process is performed Haptic device based on input regarding (110) can be configured to stabilize. On the other hand, violations of the number position or velocity (120) between the position or speed violations of the number (120) calculated in the force For The output value by applying calculated, a calculation process is the output value output speed The subtracted from Go back again to the e-book number position or velocity (120) can be configured to input. Wherein, For the expressions of 1 can be configured to condition is satisfied. On the other hand, ADM (130) the human operator (10) force The speed receives Calculated, a calculation process is performed speed Modifying manner haptic device based on input (10) can be configured to stabilize. The, ADM (130) impedance lower than the impedance of haptic interfacing (impdedance haptic interfacing) boundary (boundary) having a pair-admittance haptic interfacing (admittance haptic interfacing) can be configured to perform. S7 low impedance by-admittance types of haptic device (110) greater than stable output consists of opposite to each other. Specifically ADM (130) the human operator (10) force A transform to the type By applying output speed Can be configured to output. Wherein, 2 Can be configured for the expressions of condition is satisfied. On the other hand, ADM (130) force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the sign of the change other code for input (+) can be configured. In this way, force The haptic device (20) feedback (feedback) loop process status for stabilizing (loop process) of one parameter (parameter) operate in the other. On the other hand, ADM (130) force And a speed Multiplied by a second weighting values by comparing the code for determining the sign of the input value can be configured. I.e., force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the sign of the change other code for input (+) can be configured. Figure 2 shows a response of the one of the present invention reaction force also in the embodiment according to position and a graph, the one in the embodiment according to position 3 of the present invention represents a reaction force reactions are disclosed. In Figure 2 is energy loss due to reaction force (energy leak) position (position response) and reaction (forece response) is somewhat unstable pattern indicates a disclosed. However, in Figure 3 is position or velocity violations of the number (120) is comprised of 2 - as when, in the event that the response of the reaction force also 2 degree less than stable positions by a goniophotometer. Figure 4 the present invention according to impedance represents a range are disclosed. The present invention is over (time domain passivity approach) of the existing method TDPA (ISS) in Figure 4 in the case of a significantly lower impedance diagram can be cylindrical. Figure 5 shows a device of the present invention for stabilizing the output number one in the embodiment according to-admittance type model also state of flow of method are disclosed. The reference also 5, first ADM (admittance model) (130) the human operator (10) force The speed receives Calculates, -admittance type (admittance type) (haptic device) haptic device (110) for stabilizing a calculated speed Modified based on input speed Outputs a (S101). Wherein, ADM (130) the human operator (10) force A transform to the type By applying output speed The I.D. Outputting ADM (130) can be configured to input. Wherein, For the expressions of 3 can be configured to condition is satisfied. The, ADM (130) force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the sign of the change other code for input (+) can be configured. Next, position or velocity (position or velocity controller) violations of the number (120) ADM is output speed From the haptic device (110) for driving force Calculates, haptic device (110) that are calculated for stabilization of force Regarding force based on input To determine the (S102). The, position or velocity violations of the number (120) between the position or speed violations of the number (120) calculated in the force For By applying the calculated output value, the output value output speed calculated The subtracted from By outputting a position or velocity violations of the number (120) can be configured to input. The, For the expressions of 4 can be configured to condition is satisfied. Next, haptic device (110) is human operator (10) force On force Placed in communication with a force summation devices driven Outputs a (S103). A more through a browser but in the embodiment, if a corresponding splicing one skilled art poriae idea of the present invention within a range that the present invention not modifying and changing the various and area away from may be understand it will rain. 110: Haptic device 120: Violations of the number position or velocity 130: ADM (admittance model) The present invention relates to an admittance model input and output control system for stabilizing the state of a haptic device, and a method thereof. The admittance model input and output control system according to an embodiment of the present invention includes the haptic device of an admittance type; a position or velocity controller for stabilizing the haptic device; and an admittance model (ADM) that stabilizes the haptic device in a manner to modify an input based on a velocity. Therefore, the present invention can stabilize the state by lowering the lower boundary of an impedance range of the admittance haptic device. COPYRIGHT KIPO 2017 The force of the human operator (human operator) On force Receives drive force summation, driving according to position Haptic device outputting-admittance type (admittance type) (haptic device); speed For driving said haptic device receives said force Calculated, the calculated force Said haptic device based on input regarding number of stabilizing position or velocity law (position or velocity controller); the force of said human operator Receives said speed Calculated, said calculated speed Modifying said haptic device based on input of stabilizing manner including a haptic device for stabilizing-admittance model number ADM (admittance model) state of a system output. According to Claim 1, said ADM is, force of said human operator A transform to the type By applying output speed The I.D. Inputting said ADM characterized outputs configured to output haptic device for stabilizing-admittance model number state of a system. According to Claim 2, said A, Characterized in a system output number of haptic device for stabilizing-admittance model. According to Claim 3, said ADM is, said force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the signs of the change other code for input (+) is configured to output haptic device characterized in that the state of a system for stabilizing a-admittance model number. According to Claim 1, the violations of the number said position or velocity, said force number position or velocity calculated in the RAT For By applying the calculated output value, the output value calculated said output speed The subtracted from Said modeled input to the e-book number position or velocity are specially configured to output number of haptic device for stabilizing-admittance model characterized by a system. According to Claim 5, said A, Characterized in a system output number of haptic device for stabilizing-admittance model. The human operator of the force ADM (admittance model) The speed receives Calculates, -admittance type (admittance type) of said to stabilize the speed calculated haptic device (haptic device) Regarding input based on said speed Outputting; said ADM is output speed violations of the number position or velocity (position or velocity controller) For driving said haptic device receives said force Calculated, said haptic device to stabilize said calculated force Regarding force based on said input Computing; force of said human operator said haptic device On force Placed in communication with a force summation devices driven Outputting a haptic device including the method for stabilizing-admittance model state of output number. According to Claim 7, said ADM force of the human operator The speed receives Calculates, -admittance type haptic device to stabilize said calculated speed Regarding input based on said speed Outputting the, force of said human operator A transform to the type By applying output speed The I.D. Inputting said ADM characterized outputs configured to output the number of haptic device for stabilizing-admittance model method. According to Claim 8, said A, Haptic device characterized in state of the output number method for stabilizing-admittance model. According to Claim 9, said ADM force of the human operator The speed receives Calculates, -admittance type haptic device to stabilize said calculated speed Regarding input based on said speed The outputting, said force And a speed If the signs of the input change (-) such as code for applying a, force And a speed If the signs of the change other code for input (+) is configured to output number of haptic device characterized in that the method for stabilizing-admittance model. According to Claim 7, said ADM [...] said number position or velocity output speed For driving said haptic device receives said force Calculated, said haptic device to stabilize said calculated force Regarding force based on said input The computing, violations of the number calculated in said position or velocity force For By applying the calculated output value, the output value calculated said output speed The subtracted from Said modeled input to the e-book number position or velocity are specially configured to input the number of haptic device for stabilizing-admittance model characterized method. According to Claim 11, said A, Haptic device characterized in state of the output number method for stabilizing-admittance model.
