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Then a prototype with two operational modes such as gravity compensation and linear inertia compensation modes is implemented.
Next, the latter is used to generate an improved SI, featuring motion vector refinement and smoothing, a new matching criterion, and several compensation modes.
Through friction measurements, motion tests for gravity and/or linear inertia compensation modes, and virtual wall experiments, it is confirmed that the prototype possesses minimal friction as well as good gravity and linear inertia compensation performances sufficient for the high-quality haptic device applications such as medical training, robot-assisted surgery, etc.
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Finally, an optimal motion compensation mode selection is proposed: the previous, the next frame, the bidirectional motion-compensated average of the previous and the next frame are used for the SI by evaluating which of them gives the smallest matching error.
Furthermore, optimal motion compensation mode selection is conducted.
After two cycles, pre-sag compensation was gradually shifted to the minimum energy compensation mode.
In addition, a post-column compensation mode was also designed for the matrix-effects evaluation.
The final SI (FSI) is constructed using motion compensation based on the refined motion vectors and the optimal compensation mode.
Open image in new window Fig. 6 Control scheme of ESS inverter in negative-sequence current compensation mode.
Otherwise, if VUF surpasses the national standard, the ESS inverter operates in negative-sequence current compensation mode.
Finally, the post-column compensation mode was applied and no matrix-effects were observed under the analysis conditions.
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