| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for presenting an inner force sense more easily. SOLUTION: When a virtual tool object and a virtual screw object are in an interference state and the virtual screw object and a virtual screw hole object are in the interference state, an interference judging section 211 shifts a control mode relative to an inner force sense presenting device 1 from a normal mode to an abnormal one. When it shifts the mode to the abnormal one, an inner force sense calculating section 221 obtains torque to the virtual tool object that occurs corresponding to the interference between the virtual screw object and the virtual screw hole object based on the number of rotations of the virtual screw object. A control section 231 obtains a control value for making the inner force sense presenting device 1 present the inner force sense based on the obtained torque, and transmits it to the inner force sense presenting device 1. COPYRIGHT: (C)2008,JPO&INPIT
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