Study on the Compensation Method of Force Reflective Equipment Under Low Fresh Rate

A control algorithm ensuring the stability of system was proposed to solve the problem of interpolated compensation under low fresh rate. The result satisfied the demand of system stability other than the result of numeric interpolation. The compensation algorithm in main thread ran in the non-blocking mode by using an asynchronous callback function. As a result of improving stability, the transparency might be degraded. A method of virtual coupling which individual spring was in parallel connection with virtual environment was proposed to increase effective impedance of system. Simulation results show that the proposed algorithm can not only keep stability, but also improve the transparency of system.