| 摘要 |
<p>The invention relates to a friction compensation method in a device with force feedback and comprising a control member (1) operated by a user and coupled to a taut cable (2) activated by a gear motor (3), which comprises the steps of: detecting a sag variation of the cable caused by operating the control member; in response to said detection, controlling the gear motor to output a force (Fa) at least partially compensating for the internal friction (Rsa) of the gear motor countering a movement of the control member operated by the user. The invention relates to the method according to claim 1, in which the sag variation is detected by means of a detector (6) placed in the immediate vicinity of the cable. The invention also relates to the method according to claim 1, in which a force setting is created in response to the detection of a sag variation which is equal to the internal static friction of the gear motor reduced by the motive force transmitted by the cable.</p> |
