×

Motion effector controller for use in a virtual reality system

  • US 6,195,596 B1
  • Filed: 08/11/1998
  • Issued: 02/27/2001
  • Est. Priority Date: 10/24/1997
  • Status: Expired due to Fees
First Claim
Patent Images

1. A motion effector for use in a virtual reality system, comprising:

  • a plant for producing an output signal reflecting actual movement of a moving part therein;

    means for providing a reference input signal which reflects a desired motion of the plant;

    subtracting means for producing an error signal by subtracting an output signal from the reference input signal, wherein the output signal is generated from the plant and reflects the actual movement of the plant;

    first compensating means for generating a first control signal by using the error signal;

    second compensating means for generating a second control signal by using the reference input signal; and

    adding means for generating a final control signal by adding the first and the second control signals and providing the final control signal to the plant, wherein;

    the first compensating means is capable of reducing external disturbances to the motion effector and the modeling ciTors of the motion effector and stabilizing the second compensating means, the second compensating means is capable of reducing the time gap between the reference input signal and the output signal, and the first compensating means is characterized by the function Hb(z

    1
    ) represented by;

    Hb

    (z-1)
    =1+b1

    z-1
    +b2

    z-2
    a0+a1

    z-1
    +a2

    z-2
    ,
    wherein a0, a1, a2, b1 and b2 are real coefficients and z is the complex variable according to the z transform.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×