A method of positioning an object under force feedback control.

摘要

A method of positioning an object under force feedback control, comprises generating in accordance with specified parameters for compliance and values for balance of compliance a first definition defining a path of movement of the object in a world coordinate system, transforming the first definition into a second definition defining a path of movement of the object in a coordinate system specific to the object, generating a velocity profile and an acceleration profile for the object from the second definition, and positioning the object by causing it to move along the path defined in the second definition in accordance with the generated velocity and acceleration profiles.