ANALYSIS AND CONTROL OF A FORCE DISPLAY SYSTEM DRIVEN BY PARALLEL WIRE MECHANISM

In this paper, we develop a force display system using parallel wire m echanism for virtual sports training with high speed motion. We firstl y point out a control issue of the force display system driven by para llel wire mechanism. Based on the analysis, control laws are proposed to improve performance of the force display system. It is experimental ly demonstrated that the proposed control laws realize higher accelera tion and lower reaction force than other force display systems. Using the experimental result, the performance of the system is evaluated qu antitatively.