| 摘要 |
Method and apparatus for controlling an actuator (30) to provide linear and continuous force output to a user (22) of a force feedback device (14). To provide continuous and smooth force output in a zero crossover region of operation, two drive signals are used, each causing current to flow in a different direction in the actuator (30). When a desired output force is in the crossover region, the two drive signals are alternated to cause the output force to quickly switch directions. When the desired force is outside the crossover region, only one drive signal is used to cause output force in one direction. To compensate for a nonlinear output of the actuator (30), a desired command current is correlated with an approximated point of a characterization curve of the actuator (30), where the curve includes points determined in a previously performed actuator characterization. |
