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Virtual Reality: Concepts and Technologies
book

Virtual Reality: Concepts and Technologies

by Philippe Fuchs, Guillaume Moreau, Pascal Guitton
July 2011
Beginner content levelBeginner
432 pages
16h 6m
English
CRC Press
Content preview from Virtual Reality: Concepts and Technologies
184 Virtual Reality: Concepts and Technologies
active part, most often corresponding to a discretisation procedure (Colgate &
Shenkel, 1994);
For the second, we shall talk about the objective of “transparency’’. The purpose
is to get close to the ideal system which is characterised as:
f
h
= h
f
· f
e
v
h
= h
v
· v
e
(9.1)
where h
f
and h
v
represent the force scaling and speed scaling respectively. Such an
objective implies good position tracking, i.e. x
e
x
h
, at least in free mode;
The third criterion corresponds to the transient state of the system and helps to
define the relative values between stiffness and damping of the coupling equaliser
between the control ...
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Publisher Resources

ISBN: 9780203802953