臺灣博碩士論文加值系統

人機介面的主要研究重點其之一，集中在與虛擬的環境模型互動的能力。對於實際操作與虛擬物件的控制，接觸的知覺是不可少的。這裡提出了以動力回饋裝置模擬拍球的虛擬實境應用。系統主要組成包含了使用者介面、動態模擬與機器人控制系統。使用者介面是結合虛擬環境與視覺繪圖介面而完成的。操作者握住把手操控虛擬環境中的虛擬工具，在模擬過程當中，操作者感受到在虛擬環境中虛擬工具與虛擬物體接觸時產生的力量與動作。

One central element focus on the research in human-machine interfaces is capability to interact with computer model physically. The sense of touch and feel is necessary for realistic manipulation and control of virtual objects. Virtual reality application for ball hitting simulation with haptic device is proposed here. The main components of the system include user interface, simulation and robot control scheme. The user interface is implemented as a combination of a virtual environment and a graphic interface. Human operator manipulates a virtual tool in the simulated environment and feels the force response as it contacts and interacts with virtual objects in the simulation.

Table of Contents
Abstract (Chinese) Ⅰ
Abstract (English) Ⅱ
Acknowledgments Ⅲ
Table of Contents Ⅳ
List of Figures Ⅵ
List of Symbols Ⅶ
Chapter 1 Introduction 1
1.1 Introduction 1
1.2 Review Relation Article 4
Chapter 2 Robot System 5
2.1 The Construction 5
2.2 Direct Kinematics 7
2.3 Inverse Kinematics 9
2.4 Controller 11
Chapter 3 Virtual Reality 14
3.1 Virtual Environment 14
3.2 Graphic Interface 19
3.3 Virtual Reality System 21
Chapter 4 Experiment and Discussion 24
4.1 Results 24
4.2 Discussion 26
Chapter 5 Conclusions 29
5.1 Conclusions 29
5.2 Suggestion 29
Reference 31
Appendix 33

[1] Ming-Gou Her, Kuei-Shu Hsu, M. Karkoub, “Design and Analysis of a Direct-Drive Haptic Interface Device for Virtual Reality Applications”, Jpurnal of Intelligent & Robotic Systems.
[2] Ming-Gou Her, Kuei-Shu Hsu, “Design and Analysis of Haptic Direct Drive Robot for Virtual Reality”, Journal of Information & Optimization Sciences.
[3] Jungwon Yoon; Jeha Ryu, “Control and evaluation of a new 6-DOF haptic device using a parallel mechanism”, Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on , Volume: 2 , 2000, Page(s): 1125 -1130 vol.2
[4] Qingping Lin; Chengi Kuo, “Virtual tele-operation of underwater robots”, Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on , Volume: 2 , 1997, Page(s): 1022 -1027 vol.2
[5] Ming-Gou Her, Kuei-Shu Hsu, Wen-Shyong Yu, M. Karkoub, “Analysis and Design of a Haptic Telerobotic System”, IEE Proceeding, Control Theory and Application.
[6] Masson, Y.; Fournier, R, “EVEREST: a virtual reality interface to program a teleoperated mission”, Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on , Volume: 3 , 1997, Page(s): 1813 -1817 vol.3
[7] Kazerooni, H.; Ming-Guo Her, “The dynamics and control of a haptic interface device”, Robotics and Automation, IEEE Transactions on , Volume: 10 Issue: 4 , Aug. 1994, Page(s): 453 —464
[8] Ruspini, D.C.; Kolarov, K.; Khatib, O, “Haptic interaction in virtual environments”, Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on , Volume: 1 , 1997 , Page(s): 128 -133 vol.1
[9] Luecke, G.R.; Edwards, J.C., “Virtual cooperating manipulators as a virtual reality haptic interface”, Human Interaction with Complex Systems, 1996. HICS '96. Proceedings., Third Annual Symposium on , 1996, Page(s): 133 —140
[10] Wookho Son; Kyunghwan Kim; Amato, N.M.; Trinkle, J.C., “Interactive dynamic simulation using haptic interaction”, Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on , Volume: 1 , 2000, Page(s): 145 -150 vol.1
[11] Luecke, G.R.; Edwards, J.C., “Virtual cooperating manipulators as a virtual reality haptic interface”, Human Interaction with Complex Systems, 1996. HICS '96. Proceedings., Third Annual Symposium on , 1996, Page(s): 133 —140
[12] Itoh, T.; Kosuge, K.; Fukuda, T., “Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics”, Robotics and Automation, IEEE Transactions on , Volume: 16 Issue: 5 , Oct. 2000, Page(s): 505 —516
[13] Ogata, H.; Takahashi, T., “Robotic assembly operation teaching in a virtual environment”, Robotics and Automation, IEEE Transactions on , Volume: 10 Issue: 3 , June 1994, Page(s): 391 —399
[14] Lian-Yi Chen; Fujimoto, H.; Suzuki, Y., ” Robot teaching with operating stick using the virtual reality system”, Robot and Human Communication, 1995. RO-MAN'95 TOKYO, Proceedings., 4th IEEE International Workshop on , 1995, Page(s): 345 —350
[15] Yoshikawa, T.; Nagura, A., “A three-dimensional touch/force display system for haptic interface”, Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on , Volume: 4 , 1999, Page(s): 2943 -2951 vol.4
[16] Ming-Gou Her, Kuei-Shu Hsu, “Analysis and Design of a Haptic Control System: Virtrual Reality Approach”, International Journal of Advanced Manufacturing Technology
[17] Ming-Gou Her, Kuei-Shu Hsu, M. Karkoub, “Design and Control of a 2-D Telerobotic System ”, Control Engineering Practice.
[18] Lung-Ween Tsai, “ROBOT ANALYSIS The Mechanics of Serial and Paralle Manipulators”, A Wiley-Interscience Publication. JOHN WILEY & SONS, INC. (1999).
[19] Katsuhiko Ogata, “Modern Control Engineering” (2nd Edition), PRENTICE-HALL, INC. A Division of Simon & Schuster Englewood Cliffs.