Multi-rate cooperation method and system for magnetic suspension visual tactile interaction

The invention discloses a multi-rate cooperation method and system for magnetic suspension visual tactile interaction, and the method comprises the steps: firstly carrying out the modeling of a virtual tactile tool through a plurality of rays, and obtaining the collision information of the rays in a virtual scene through collision detection; performing penetration detection calculation on the rayset and the collision information set, and further processing to obtain an ideal pose of the non-penetration tool; and finally, constructing a mechanical equivalent model to realize six-degree-of-freedom tactile rendering force calculation. The system comprises a visual positioning module, a physical simulation module and a touch rendering module. The visual positioning module is responsible for tracking user operation and constructing stable mapping from the user operation to the pose of the virtual tool; in order to coordinate the operation rate difference among multiple modules of the system, the stable and efficie