Dependent characteristics of force display manipulators upon types of control commands - displacement and force commands

摘要

Although impedance display is relatively easy to realize by force display manipulators, it is well known to be quite difficult to express extremely light and hard spring characteristics. Two types of displacement and force commands are conceivable for force display system. Systems with those control commands have their own merits and demerits. Characteristic dependence on those command types is compared.