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研究生:許桂樹
研究生(外文):Kuei-Shu Hsu
論文名稱:具動力回饋人機界面設計及分析並且於虛擬實境暨遠端操控系統之應用
論文名稱(外文):The Design and Analysis of Haptic Interface Device for Controlling Virtual Reality and Remote Control Systems
指導教授:何明果何明果引用關係游文雄
指導教授(外文):Prof. Ming-Guo HerProf. Wen-Shyong Yu
學位類別:博士
校院名稱:大同大學
系所名稱:機械工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:英文
論文頁數:95
中文關鍵詞:動感力覺界面器遠端機器人虛擬實境機器人
外文關鍵詞:Haptic interface deviceTelerobotVirtual RealityRobot
相關次數:
  • 被引用被引用:3
  • 點閱點閱:298
  • 評分評分:
  • 下載下載:68
  • 收藏至我的研究室書目清單書目收藏:5
為因應工業界的需求,使操作者能夠在危險度高且複雜的環境下操作,並且也能接受體力有限的操作者操作或者工作過程必需仰賴操作者的智慧與感覺的配合來執行時,其有效的解決方法之一就是採用主動從動式電傳機器人系統。
由於主動機器人端常常是以人類為操控者,其動態行為常因人而異且特性不定,故常會造成不良的輸出響應,甚至造成系統的不穩定。
解決方法之一就是將操作者視為整個閉迴路系統的一部分,使整個閉迴路系統也考慮操作者的動態特性。
而要將操作者與機器人結合起來,其間常需要一個能將手臂接觸力轉換至機械設備的動力搖桿。
另外,主動機器人端及從動機器人端之間的電傳信號都會經由觸覺介面裝置來互相傳遞,使得操控者能實際感受到遠端從動機器人的回饋力量,以便適時修正或調整施力大小。
因此,本論文將提出一有效法則來分析整個閉迴路控制系統之穩定性,並且提高系統的輸出性能。
而且,此法則也將實際應用於遠端操控機械手臂及切削黏土系統之虛擬實境的控制。
本論文的研究方法如下: 首先,我們先分別探討具有動力回饋能力的遠端操控機器人及虛擬實境切削系統中,各系統元件之動態特性,及其與整體系統動力回饋性能極限的關係,接著,設計主動機器人端與遠端從動機器人或虛擬實境切削系統之間的觸覺介面裝置。
因此,整個閉迴路控制系統中就包含著使用者手臂、觸覺介面、及遠端從動機器人致動器或虛擬實境切削系統致動器的動態模式。
為了保證整個閉迴路控制系統的穩定性,我們採用奈奎士準則(Nyquist criterion)及最大模數定理(Maximum theorem)來求得觸覺介面各參數的範圍值,並且從中選取適當的值以使得輸出響應有最佳的性能表現。
最後,為了讓操作者能實際感受到遠端從動機器人或虛擬實境切削系統傳回的回饋力量,我們使用此法則來進行實際操作,以達到彷彿此人就在現場親自執行工作,並且藉由限制及非限制的環境,以及在有負載干擾下,來驗證本法則的可行性與強健穩定特性。}
In practice, there are many jobs that are in highly dangerous and complicated environments, are limited by human force, or should be down by human knowledge with intelligence and experience.
The most effective method is tackle the problems is to use the master-slave telerobotics with haptic behavior.
Due to the fact that the master robot is maneuvered by the human arm and its dynamics and characteristics are always changed, the performance of the closed-loop system is not satisfied, and even to an unstable extent.
One way to solve the problem is to incorporate the human dynamics into the closed-loop system such that the characteristic of the human can also be considered in the stability criteria.
In order to include the human dynamics into the closed-loop, powered handlers must be used to transform the human force into electrical signals by force sensors.
In addition, signals from the master side are run forward to the slave one by the haptic interface device and vice versa, such that the operator can feel the actual force feedback from the slave side just as she/he would from the real one.
In this thesis, analysis and design of the telerobotics based on the haptic interface device for controlling the master slave robots and virtual reality (VR) for simulating the cutting clay system is proposed.
The main components of the system include user interface, networking, actuators, and haptic interface simulated by the computer softwares.
In order to guarantee the stability of the system, the Nyquist criterion and maximum modulus theorem are both used to find the stability bounds.
By selecting a proper value ranged from the bounds, the satisfactory performance of the closed-loop system is also achieved.
For controlling the cutting clay system, the slave robot and its environments are simulated by virtual reality that enables the operator to feel the actual force feedback from the virtual reality just as she/he would from the real environment.
The haptic virtual system integrates the dynamics of the cutting tool and the virtual environment whereas the handle actuator consists of the dynamics of the handle and the operator in the physical side.
It is shown that the proposed control scheme guarantees global stability of the system, with the output of the cutting tool approaching that of the handle if the ratios of the position and the force are selected.
Experiments for an one dimensional master slave manipulator and a two dimensional master slave manipulator where the slave one is the cutting clay system and is simulated by the virtual reality are used to validate the theoretical developments.
1 INTRODUCTION 1
2 DYNAMIC MODELING 10
3 CONTROLLER DESIGN 25
4 STABILITY ANALYSIS 32
5 EXPERIMENTAL RESULTS 40
6 CONCLUSION 77
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