多功能虛擬操控器之研發

Abstract

近年來科技資訊不斷進步，帶動電腦及其週邊硬體迅速蓬勃發展，使得虛擬實境(Virtual Reality)大量被應用於教育、訓練、娛樂、工業和醫學等方面。虛擬實境是一種讓使用者透過多種的感官途徑與虛擬環境產生即時互動的一套動態模擬系統，其中力覺感官介面更具有與虛擬環境雙向互動的性質，可在接受虛擬環境所給予力感回饋的同時對環境進行操控。 因此我們提出利用力感系統與因應軟體模擬出各式的操控器，並應用在操作訓練或遠端遙控操作上，實現一個多功能虛擬操縱器系統。 本論文首先以阻抗控制理論為基礎設計出三種模擬真實世界基本阻抗元件的公式，接著透過適當的規劃將這些基本阻抗元件合成性質較為複雜的模型，如各種形狀的虛擬牆和虛擬通道，再將此模擬法則套用在一組兩軸力回饋搖桿上，完成各項模擬控制，最後進行運動限制(motion constraint)之建立，並完成一項扳手操控器的模擬實例。

Along with the rapid development of computers and their peripheral hardwares, Virtual Reality has been used in many areas, e.g., education, training, entertainment, industry, and medical science. Virtual Reality is a dynamic simulation system which allows the user to interact with the virtual environment through multiple sensorial channels. Among these sensorial channels, the haptic interface is capable of interacting with the virtual environment. Thus, we intend to use it along with corresponding softwares to simulate various kinds of manipulators, and then accomplish a multi-functional virtual manipulator. In this thesis, we first design three basic impedance based on impedance control. Next, we combine these to form more complicated objects, such as various shapes of virtual wall and virtual tunnel. Finally, we utilize a group of virtual walls and virtual tunnels to form virtual motion constraints. The hardware for realizing these elements and constraints is based on a 2-DOF force reflection joystick. For demonstration, we use the proposed scheme to emulate a versatile wrench.