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首页> 外文会议>Annual Conference of the IEEE Industrial Electronics Society >Haptic Rendering for Time-Variant System Based on FDTD Method Considering Realtime Discretization
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Haptic Rendering for Time-Variant System Based on FDTD Method Considering Realtime Discretization

机译：基于FDTD方法考虑实时离散化的时变系统触觉渲染

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摘要

In this paper, we present a method to rapidly discretize a continuous time-variant system in real time. Three discretization methods are compared. The proposed method does not calculate for discretization, and therefore, the calculation cost is 1/100 of that of the conventional zero-order hold model. The presented method has high stability in higher order systems and the position and size of the internal parameters are determined for each sampling time. The effectiveness of the Finite-Difference Time-Domain (FDTD) method is demonstrated by comparing responses with a continuous system by using simulations. By experiments, we reproduce the haptic sensations based on the time-variant environmental model expressed by Tustin approximation and FDTD method.
机译：在本文中，我们提出了一种方法来实时地快速地离散连续时间变量系统。比较了三种离散化方法。所提出的方法不计算离散化，因此，计算成本是传统零级保持模型的计算成本。所提出的方法在更高阶系统中具有高稳定性，并且针对每个采样时间确定内部参数的位置和尺寸。通过使用模拟比较与连续系统的响应进行比较来证明有限差分时间域（FDTD）方法的有效性。通过实验，我们基于Tustin近似和FDTD方法表达的时变环境模型来重现触觉感觉。

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