촉각 제어 시스템을 위한 제어용 인터럽트 타이머의 구현

In this paper, we propose a controllable interrupt timer for haptic control system haptic control system, which was divided into two processes as virtual environment(VE) manager and haptic controller The VE manager displays the 3D graphic scene at low update rates 25Hz and haptic controller controls the haptic display at high update rates 1000Hz. To archive the accurate update rate, we have imple-mented a timer so called "AccTimer" based on Windows@ multimedia functions. The proposed "AccTimer" for haptic control system has been Imple- mented in a personal computer with a 6-DOF haptic interface. Experimental results show that our system is robust with respect to tolerances in the control rates, and also, through the accurate control rate the operator can always feel a stable force.