Conventional force rendering methods in haptic applications often suffer stability issues when simulating interactions with stiff objects such as a virtual wall. This paper argues that the emphasis in such scenarios is to minimize the penetration into the virtual wall instead of modeling the wall as a spring-damper system. Therefore, we propose an approach using a position controller to achieve better haptic rendering of the virtual wall. The proposed approach exploits model-based development tools to obtain the linear control system model without the need for an analytical model of the dynamics of the haptic device. A simulation-based performance comparison of two different controllers has been made for a 6-DOF parallel structure haptic device.

中文翻译：

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一种基于位置控制的刚性物体触觉渲染方法

在模拟与刚性物体（如虚拟墙）的交互时，触觉应用中的传统力渲染方法通常会遇到稳定性问题。本文认为，在这种情况下，重点是尽量减少对虚拟墙的渗透，而不是将墙建模为弹簧阻尼器系统。因此，我们提出了一种使用位置控制器来实现更好的虚拟墙触觉渲染的方法。所提出的方法利用基于模型的开发工具来获得线性控制系统模型，而无需触觉设备的动力学分析模型。已对 6 自由度并联结构触觉设备进行了两种不同控制器的基于仿真的性能比较。