Two-mode system for tank gunnery skill training based on haptic interaction

A study on tank gunnery motor skill training is introduced in this paper. We developed a two-mode system used for teaching and training. In the haptic guidance mode, the trainee is passive and experiences position playback of the expert´s motion with a proportional-derivation (PD) controller. In the path constraining mode, the trainee operates the haptic device actively, and the aiming point in the virtual environment is constrained on the desired path. A new haptic rendering algorithm is introduced in this mode. An experiment for record-play motion of drawing a virtual sine path and path constraining with drawing an envelope path is designed. Results indicate that the haptic rendering algorithm in the two-mode training system is stable.