Method for controling distorted positions in multi-DOF haptic system

摘要

The present invention relates to a haptic system. More specifically, the present invention relates to a method of controlling position distortion of a multi-degree of freedom (MDOF) haptic system, which solves a problem of direction distortion of force caused when a passive theory is applied to an MDOF system to control the haptic system. According to the present invention, stability can be maintained when interacting with a remote environment, and the directional transparency of the MDOF haptic system can be improved.