Game Development Reference
In-Depth Information
Figure 9.3 Mechanical coupling between the simulation and a haptic device
V e
V h
V d
Z h ( V )
F h
F d
F e
Z c
Haptic device
Coupling
Figure 9.4 Addition of a mechanical coupling between the device and the simulation
9.3 MODELLING OF THE HAPTIC COMMAND
BY A NETWORK FORMALISM
We shall now formally model the link between a virtual world and an operator. To
characterise such a system, we use three criteria, the first being stability, the second
performance, and the third a more qualitative one, that of behaviour:
•
For the first, we shall take the criterion of “unconditional stability in coupled
mode''. We thus assume that the virtual environment is passive, which is not
always the case. If it is not passive, we subdivide it into a passive part and an
 
Search Nedrilad ::




Custom Search