| 摘要 |
<p>PURPOSE: A device for controlling a haptic device based on PO/PC and a control method thereof are provided to remove noise operation by updating the device for controlling the haptic device based on the synchronization of an encoder pulse of the haptic device. CONSTITUTION: A current obtaining module(120) detects a motor current of a haptic device. A counter module(110) includes a position counter, an elapse time counter, and a direction detecting unit. A PO/PC module(130) is composed of an FPGA(Field Programmable Gate Array). A current control module(140) generates a PWM(Pulse Width Module) signal for controlling a motor of the haptic device based on the motor current of the current obtaining module and a reference current of the PO/PC module. The PO/PC module calculates a position displacement from an encoder pulse of the motor of the haptic device to obtain a virtual environment rendering value. [Reference numerals] (10) Haptic device; (110) Counter module; (114) Position counter; (115) Elapse time counter; (116) Direction detecting unit; (120) Current obtaining module; (140) Current control module; (20) Virtual environments of a computer device</p> |
