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研究生:林瑋慶
研究生(外文):Wei-Ching Lin
論文名稱:模擬系統之兩軸力回饋搖桿設計與控制
論文名稱(外文):Design and Control of a 2-DOF Force-Reflection Joystick for Simulation Systems
指導教授:楊谷洋楊谷洋引用關係
指導教授(外文):Kuu-Young Young
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電機與控制工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:90
中文關鍵詞:雙向互動層次力覺裝置力回饋搖桿互動行為虛擬牆運動限制排檔器
外文關鍵詞:virtual reality dynamic simulation systemtwo-way communicationforce-reflection joystickvirtual wallmotion constraintsgearshift box
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使用者與虛擬實境動態模擬系統之間的即時互動,必須透過雙向互動層次的力覺裝置,方能達到緊密結合的效果,力回饋搖桿即為此裝置其中一種,我們不僅利用力回饋搖桿來操控虛擬場景中的物件,而且真實感受到其與虛擬物件之間的相互影響。本論文首先介紹一般力回饋搖桿的設計概念、硬體結構、操作感受、特性分析、及信號處理,並依此開發一具有高頻寬、高精確度、及高輸出力矩的力回饋搖桿,且分析此搖桿的性能及可發揮的空間,接著推導其數學模型,以方便分析及模擬,最後設計適合此搖桿的驅動程式。在實驗方面,我們利用此搖桿進行模擬使用者與簡單物件之間互動行為的基本性質實驗,例如彈簧、阻尼、質量等,接著將三種基本性質合成一阻抗元件,以詮釋力回饋搖桿與簡單物件的互動行為,而與複雜物件的互動行為則可分解成一些簡單行為的相互影響,另則討論與一些極端虛擬物件的互動行為,如虛擬牆等,最後利用其原理實作出運動限制(motion constraint)的應用,如排檔器等。由實驗結果得知,此力回饋搖桿確實可賦予使用者更擬真的力覺感受,而且能更有效率地與系統溝通。
The interaction between the user and a virtual reality dynamic simulation system can be much enhanced by the haptic devices, which provide two-way communication in position and force. The force-reflection joystick is a typical haptic device. We use it to manipulate the objects in the virtual environment, and also emerge into the activities among the virtual objects. In this thesis, we first discuss the important issues in developing a force-reflection joystick, including the design concept, hardware structure, manipulativity, system analysis, and signal. Based on the discussions, we design a 2-DOF force-reflection joystick, which is with high precision, bandwidth, and output torque. Since the joystick is intended for simulation system in the experiments, we first use it to generate the feeling of touching the spring, damper, and mass. More complex feeling can then be generated by synthesizing these three basic properties. We also use the joystick and software to construct the “virtual wall”. As a novel concept, we propose a method to assemble the virtual walls. With a set of virtual walls properly arranged, they can form certain virtual motion constraints, and thus emulate various virtual mechanisms, such as the gearshift box.
中文摘要 i
英文摘要 ii
誌 謝 iii
目 錄 iv
表 目 錄 vi
圖 目 錄 vii
1. 導論..………………………………………………………………..… 1
2. 搖桿結構……………………………………………………………….. 7
2.1 傳動機構……..………………………………………………………. 8
2.2 主動元件………………………………………….…………………. 14
2.3 操作感受………………………………….…….…………………… 16
2.4 感測裝置…………………………………………..………………… 18
2.5 解析度……………………………………………..………………… 20
2.6 特殊裝置…………………………………………..………………… 21
2.7 擴展性……………………………………………..………………… 23
3. 硬體實現與機構分析…………………………………………………. 24
3.1 傳動機構…………………………………………………………….. 25
3.2 主動元件………………………………………….…………………. 29
3.3 操作感受………………………………….…….…………………… 30
3.4 感測裝置…………………………………………..………………… 33
3.5 解析度……………………………………………..………………… 36
3.6 特殊裝置…………………………………………..………………… 37
3.7 擴展性……………………………………………..………………… 38
4. 軟體實現與系統鑑別…………………………………………………. 39
4.1 軟體實現…………………………………………………….………. 40
4.2 系統鑑別……………….……………………………………………. 43
4.3 控制策略…………………………………………………………….. 46
5. 實驗與討論……………………………………………………………. 49
5.1 彈簧………………………………………………………………….. 50
5.2 阻尼………………………………………………………………….. 55
5.3 質量………………………………………………………………….. 58
5.4 彈簧、阻尼、與質量合成………………………………………….. 61
5.5 虛擬牆……………………………………………………………….. 64
5.6 排檔器……………………………………………………………….. 68
5.4 實驗結論…………………………………………………………….. 71
6. 結論…………………….……………………………………………… 72
6.1 自製、市售、與專業力搖桿之比較…….…………………………. 73
6.2 未來工作………………………………………………………….…. 75
參考文獻………………………………………………………………….. 77
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