標題: | 即時動態模擬系統:力回饋搖桿的研製與實驗 A Real-Time Dynamical Simulation System: Force-Reflection Joystick Development and Experimental Verification |
作者: | 黃富俊 Fu- jiun Huang 楊谷洋 Kuu-Young Young 電控工程研究所 |
關鍵字: | 力回饋;搖桿;阻抗;觸覺;即時動態;force reflection;joystick;impedance;tactile;real-time dynamics |
公開日期: | 1999 |
摘要: | 科技的不斷進步,結合相關技術發展一即時動態模擬系統,以供高科技娛樂或模擬訓練,已成為可能,也日趨普遍,而這樣的即時動態模擬系統主要包括:六軸運動平台、力回饋搖桿、虛擬實境互動場景、即時動態模擬單元四部份。此六軸運動平台是採用油壓比例伺服閥驅動系統,來達成運動平台在空間中做六自由度運動之目的,藉此可以模擬飛機、船舶、車輛等運動。虛擬實境是以電腦模擬產生一三度空間虛擬環境,人們可以身歷其境般置身於其中進行操作力回饋搖桿,與動態模擬器產生互動。在本論文中我們研製一力回饋搖桿系統,包括兩組馬達、一張運動控制卡、一動態模擬器,以及搖桿本體的機械裝置,以模擬器為控制核心,藉由螢幕傳遞視覺回饋,透過運動控制卡,操控馬達帶動搖桿,使操作者感受到力回饋,透過我們設計的實驗,來分析觸覺與視覺在這些情況所扮演的角色。實驗得知,視覺可提供操作者掌控整體,讓操作者可事先預防可能發生的狀況,但若是過於接近物體及較複雜的情況下,視覺回饋傳達至操縱搖桿,往往來不及反應,此時操作者則會較依靠觸覺;但觸覺需與物體近距離接觸,且因是用碰觸來探測物體,因此往往無法得到一平順的移動。 The developed real-time dynamical simulation system consists of mainly four elements including a 6-DOF motion platform, a joystick, an interactive virtual reality unit, and a real-time simulator. In this thesis, our goal is to develop a force-reflection joystick system for this real-time dynamical simulation system. The developed system consists of two DC servo motors, a motion control card, a PC-based simulator, and the control stick. The simulator is the controller for the system. It provides the visual feedback through the monitor and also sends commands to the motion control card. The card translates those commands to be a series of pulses. The DC motor accepts the pulse command and then moves the joystick. The user feels the force due to the motion of the joystick. We intend to analyze the effects of the visual and tactile senses through the experiments. The results show that the vision can help the user understand the situation and let him (her) aware of the sudden variations. On the other hand, the user depends more on the tactile sense, when the contact situation happens. However, the motion of the joystick is not smooth when it comes to contact cases, due to the interaction between the manipulator and the environment. 英文提要 ii 誌 謝 iii 目 錄 iv 圖 目 錄 v 1. 導 論…………………………………………………………………1 2. 力回饋搖桿……………………………………………………………7 2.1 國內自製搖桿簡介…………………………………………………7 2.1.1台大資工所………………………………………………………8 2.1.2 成大電機所……………………………………………………8 2.1.3 大同機械所……………………………………………………9 2.1.4 台大海洋所……………………………………………………9 2.2 搖桿的設計概念…………………………………………………9 2.2.1人的觸感………………………………………………………10 2.2.2 人的影響………………………………………………………11 2.3 力搖桿的設計 ……………………………………………………11 2.3.1 搖桿與模擬器的傳輸 ………………………………………14 A.控制卡的傳輸方面………………………………………………14 B.通訊頻寬 …………………………………………………………15 2.3.2 力搖桿的內部機構……………………………………………16 A.直流伺服馬達……………………………………………………16 B.運動控制卡………………………………………………………17 C.搖桿本體的機械圖………………………………………………19 3. 搖桿控制系統與策略………………………………………………21 3.1 力控制策略……………………………………………………..22 3.2 搖桿控制系統…………………………………………………..25 3.2.1 系統建構…………………………………………………….26 3.2.2 控制器運算流程…………………………………………….27 3.2.3 搖桿模式……………………………………………………28 4. 搖桿測試與實驗……………………………………………………30 4.1 彈簧模式…………………………………………………………30 4.2 阻尼模式…………………………………………………………34 4.3 質量模式…………………………………………………………36 4.4 振動模式…………………………………………………………37 4.5 碰觸方形模式……………………………………………………38 4.6 碰觸圓形模式……………………………………………………41 4.7 討論………………………………………………………………45 5. 結論…………………………………………………………………47 5.1 未來展望…………………………………………………………47 參考文獻 49 |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT880591058 http://hdl.handle.net/11536/66292 |
Appears in Collections: | Thesis |