仮想的な構造を持つ操縦桿への力覚提示

抄録

We develop a control device which can represent various operation manners by changing the control method. The control device can represent the virtual axis which is one of the virtual configuration. The virtual axis is different from an actual configuration of the control device and represented by controlling multiple actual axes in the same time. When an operator operates the control device which is represented by virtual axis, the operator feels as if the axis exists. This paper describes an implementation of the force display function to the control device with the virtual axis. First, forces and torques to represent the virtual axis are calculated. Then, a torque about the virtual axis to achieve mechanical impedance is calculated. Finally, the calculated forces and torques are distributed to the torques which drive the actual axes in the device. The availability of the force display function is shown by experiments.