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研究生:胡正鈺
研究生(外文):Chen-Yu Hu
論文名稱:互動式動感模擬器之設計、系統分析與在虛擬實境之應用
論文名稱(外文):Design and System Analysis of Interactive Motion Simulator and Application in the Virtual Reality
指導教授:何明果何明果引用關係
指導教授(外文):Ming-Guo Her
學位類別:碩士
校院名稱:大同大學
系所名稱:機械工程學系(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:2004
畢業學年度:92
語文別:英文
論文頁數:64
中文關鍵詞:虛擬實境動感模擬器搖桿
外文關鍵詞:JoystickMotion SimulatorVirtual Reality
相關次數:
  • 被引用被引用:4
  • 點閱點閱:286
  • 評分評分:
  • 下載下載:50
  • 收藏至我的研究室書目清單書目收藏:7
虛擬實境系統由於其本身並不受地點以及空間的限制,虛擬情境可以彈性變化,具有方便以及安全等特性,常用於「娛樂」或是「模擬訓練」等方面。虛擬實境系統的構成要素主要可以分為:操作者、影音系統、搖桿、動感模擬器。
本論文將會利用上述所構成的元件來製作我們的互動式動感模擬器。並且將會探討的如何規劃其運動軌跡,以及如何能將無限虛擬空間裡的運動轉換到實際有限空間運動的研究。
Virtual reality system is not restricted by place and space, and the virtual situation can be changed flexibly, and have characteristic such as being convenient and safe. Its usually apply such as ' entertainment ' or ' simulated training ' ,etc.. The composition element of the virtual reality system has: Operator, audio-visual system, joystick, motion simulator.
This article will make use of above-mentioned components to make our interactive motion simulator. We will discuss how to plan its trajectory, and a research how we can transform the motion of reality space into the motion of unlimited virtual space.
ACKNOWLEDGEMENTS i
ABSTRACT ii
CHINESE ABSTRACT iii
TABLES OF CONTENTS iv
LIST OF FIGURES vi
LIST OF TABLES viii
Chapter 1 Introduction 1
1.1 Preface 1
1.2 Literature Review 3
1.3 Subject and Architecture 4
Chapter 2 Motion Simulator Hardware Structure 5
2.1 Preface 5
2.2 Dynamic simulator system 6
2.2.1 The design and introduce of motion simulator 6
2.3 Introduction of joystick and design method 13
2.3.1 Designing the joystick 14
2.4 The video systems 16
2.5 The control box 17
2.6 The sensor system 18
Chapter3 The software of the virtual reality system 20
3.1 Preface 20
3.2 Interactive virtual reality systems soft ware 23
3.3 Construct of Interactive virtual scene 24
3.4 Combination of the virtual reality system 26
Chapter4 Control Analysis and Experiment 28
4.1 Preface 28
4.2 control system 28
4.3 Acceleration of Virtual Environment and the Motion Plat 31
4.4 Displacement of Virtual Environment and the Motion Plat 35
4.5 Experiment 42
Chapter 5 Conclusions 49
Reference 51
APPENDIXES 54
Appendix A 54
Appendix B 55
Appendix C 58
Appendix D-1 59
Appendix D-2 60
Appendix D-3 61
Appendix E 62
Appendix F 63
Appendix G 64
[1]Ming-Guo Her, Kuei-Shu Hsu,“Design and Analysis of Haptic Direct Drive Robot for Virtual Reality,” Journal of Information & Optimization Sciences, Vol. 22, pp. 441~461, 2001.
[2]Ming-Guo Her, M. Karkoub, and Kuei-Shu Hsu, “Analysis and Design of a 2-D Haptic Interface Device in Virtual Reality,” International Journal of Computer Applications, Vol. 15, pp. 60~69, 2002.
[3]Ming-Guo Her, Kuei-Shu Hsu, and Wen-Shyong Yu, “Analysis and Design of a Haptic Control System: Virtual Reality Approach,” International Journal of Advanced Manufacturing Technology.
[4]H. Kazerooni, Ming-Guo. Her, “The Dynamics and Control of a Haptic Interface Device,” IEEE Transactions on Robotics and Automation, Vol. 10, No.4, pp.453-464, August 1994.
[5]Kuei-Shu Hsu, Ming-Guo Her,” Direct-Drive Robot with Force Feedback Scheme in Virtual Reality”,中國機械工程學會第十八屆全國學術研討會論文集第二冊第505-512頁,國立台灣科技大學,台北,民90。
[6]Ming-Guo Her, Kuei-Shu Hsu, Feng-Tsai Weng, “Analysis and Design of a Haptic Device in Virtual Reality”,第十二屆全國自動化研討會光碟論文集,國立虎尾技術學院,雲林縣,民90。
[7]Ming-Guo Her and Feng-Tsai Weng, “Micro-hole Machining of Copper Using the Electro-discharge Machining Process with a Tungsten Carbide Electrode Compared with a Copper Electrode,” International Journal of Advanced Manufacturing Technology, Vol. 17, Issume 10, pp.715-719, May 2001.
[8]M. S. Yoh “The Reality of Virtual Reality”, Seventh International Conference On Virtual Systems and Multimedia,pp666-674,2001
[9]吳道岳,“虛擬操縱氣之模擬法則之分析-應用於兩軸力回饋搖桿”,國立交通大學電機與控制工程學系碩士論文
[10]Ming-Guo Her, Kuei-Shu Hsu, Wen-Shyong Yu, and M. Karkoub, “Analysis and Design of a Haptic Telerobotic System,” Control Theory and Application, Vol. 148, pp.306-314, July 2001.
[11]Ming-Guo Her, Kuei-Shu Hsu, Wen-Shyong Yu and Tian-Syung Lan, “Analysis and Design of a Telerobotic System with Haptic Behavior,” International Conference on Multisensor Fusion and Integration for Intelligent Systems, August 20-22, 2001.
[12]Ming-Guo Her, M. Karkoub, Kuei-Shu Hsu, and Tian-Syung Lan, “Design and Control of a 2-D Telerobotic System with a Haptic Interface,” IFAC Workshop on Mobile Robot Technology, pp297-302, May 2001.
[13]蔡宗成,”遠端網路代理機器人之設計與應用”,元智大學機械工程研究所碩士論文
[14]Virtual Reality Application for Direct Drive Robot with Force Feedback”, International Journal of Advanced Manufacturing Technology.
[15]“Analysis and Design of a Haptic Control System: Virtual Reality Approach”, International Journal of Advanced Manufacturing Technology, Vol.19, pp.743-751, 2002.
[16] D.Steward “A Platform with Six Degree of Freedom,” Proceedings of Institution of Mechanical Engineers, vol.180, part1, no.5, pp371-386, 1965.
[17]徐熊源,“虛擬實境模擬機之研製” 南台科技大學電機工程研究所碩士論文
[18]K.M.Lee and D.Shah , “Kinematic Analysis of a Three Degrees of Freedom In-parallel Actuated Manipulator,” IN Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, No3.,pp354-360,1988
[19]連文賢,”虛擬實境動態模擬系統:力回饋搖桿系統研發與實驗”, 國立交通大學電機與控制工程學系碩士論文
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