虛擬實境動態模擬系統: 力回饋搖桿系統研製與實驗

Abstract

現今力回饋搖桿已廣泛運用於高科技娛樂、虛擬實境等，在本論文中，我們發展一適合應用於虛擬實境動態模擬系統的力回饋搖桿，具高精確度、高輸出力矩及高頻寬等，虛擬實境動態模擬系統包括動態模擬器、虛擬實境互動場景、六軸平台、及力回饋搖桿系統四部份，而力回饋搖桿在此系統中所扮演的角色為操控與回饋虛擬力，對整個系統的功能發揮佔一重要地位。我們從硬體設計、控制法則、模擬器建構、實驗模擬到應用於虛擬實境動態模擬系統實際應用上作了有系統的介紹，透過我們設計的實驗，分析了觸覺、視覺、以及聽覺在這些情況下各自扮演的角色，且也了解工作頻率對於使用者操控力回饋搖桿的影響，同時，也以阻抗控制理論配合週期性震動來模擬各種觸覺感受。在實際運用於虛擬實境動態模擬系統中得知，此自製力回饋搖桿可讓使用者有良好操控與逼真的觸覺感受。

Force feedback joysticks are generally used in high-end amusement and virtual reality systems. In this thesis, we develop a force feedback joystick system that can be used in a virtual reality dynamical simulation system. The characteristics of the developed force feedback joystick are high accuracy, high moment, and high bandwidth. We describe the force feedback joystick system in detail from hardware design, control strategy, simulator structure, to experiments and applications. In the experiments, we evaluate the effects of the haptic, visual, and audition feedbacks in a dynamic simulation system. We also analyze how the frequency affects the performance of the force feedback joystick. The experiment results demonstrate that the developed joystick can provide the user with realistic haptic feeling and performs well in the virtual reality dynamical simulation system.