臺灣博碩士論文加值系統

「索控動感回饋載具與視覺頭盔之設計製作與控制以及其在載具模擬系統之應用研究」的研究目的主要是「以低自由度運動模擬高自由度運動」，打破以往必須以高自由度才能模擬出高自由度運動的研究；而且，有別於以往使用高成本的伺服滑軌，本研究使用繩索控制載具，達到「以載具的有限空間運動模擬無限空間的運動」的目的，進而達到低成本的要求。
研究中除了模擬出操作者在身體上的觸感外，更加入非接觸式的「視覺頭盔」，相較於以往使用紅外線的傳輸方式，速度快的許多，產生的場景變化也更及時，使操作者在虛擬場景的變化上，能有更真實的視覺效果。
結合索控載具與視覺頭盔，再搭配上虛擬遊戲軟體，使操作者在視覺、聽覺等影音回饋，與觸覺和動感等知覺回饋上，產生更真實模擬效果，有如身歷其境一般。

Research goal of “A study on design manufacturing and control of a cable controlled motion simulator with visual feedback helmet and their application on a simulator simulation system is to simulate the high degree of freedom movement by the low degree of freedom movement.” In order to simulate unlimited extent movement by the finite space movement with simulator and low cost. It broke out simulate the high degree of freedom movement by the high degree of freedom movement by changing high cost servo slider rail to use ropes controlling simulated.
Putting the visual feedback helmet in not only simulate the touch of operator’s body but also causes the operator at the virtual environment with more real visual effect. It is faster than transmission by infrared rays.
It will give the feedback of the consciousness to the operator, the feeling in the virtual situation, including of the vision, sense of hearing, sense of touch, and sense of movement by combing cable-controlled simulator and visual and virtual game software.

Abstract (English)............................................................i
Abstract (Chinese)...........................................................ii
Acknowledgement.............................................................iii
Table of Contents............................................................iv
List of Symbols..............................................................vi

Chapter 1 PREFACE............................................................1
1.1 Introduction.............................................................1
1.2 Review Relational Articles...............................................2
1.3 The Research Purpose.....................................................5
1.4 Thesis Organization......................................................6
Chapter 2 DESIGN AND THE HARDWARE OF THE VIRTUAL REALITY SIMULATOR...........8
2.1 The Airship Structure and Its Fly Principle..............................8
2.2 The Hardware Structure of a Cable Controlled Motion Simulator............9
2.2.1 Advantech PCI 1240 4-axis Universal PCI Stepping/Pulse-type Servo
Motor Motion Control Card..........................................10
2.2.2 The Servo Motor of TECO and the Driver of CSIM.....................11
2.2.3 Joystick...........................................................14
2.2.4 Head Joystick......................................................20
2.2.5 Jogging Machine....................................................20
2.2.6 Eye-Trek...........................................................22
2.2.7 A Cable Controlled Motion Simulator................................24
Chapter 3 VIRTUAL REALITY CONSTRUCTING......................................29
3.1 Virtual Reality Introduction............................................29
3.2 Virtual Reality Software................................................33
3.2.1 System Structure...................................................33
3.2.2 Software...........................................................34
Chapter 4 SYSTEM COMBINATION................................................39
4.1 Control and Analysis....................................................41
4.1.1 Operator and Airship Do the Pitch and Vertical Action..............43
4.1.2 Operator and Airship Do the Roll...................................48
4.2 The Process of the Program Analyzes.....................................55
4.3 Result and Discuss......................................................66
4.3.1 Result.............................................................66
4.3.2 Discuss............................................................71
Chapter 5 CONCLUSION & FUTURE PROSPECT......................................98
5.1 Conclusion..............................................................98
5.2 Future Prospect.........................................................99
REFERENCE...................................................................100

[1] Chen-Yu Hu, “Design and System Analysis of Interactive Motion Simulator and Application in the Virtual Reality,” Unpublished master thesis, Tatung University, Taipei, Taiwan, R.O.C (2003)
[2] Chih-Wang Hsu, “Design and Application of an Interactive Motion Simulator with Multiple Bilateral Controllers,” Unpublished master thesis, Tatung University, Taipei, Taiwan, R.O.C (2003)
[3] Chung-Chih Luo, “Development of Fuzzy PIO Detector for VR Flight Simulator,” Unpublished master thesis, Chiao Tung University, Hsinchu, Taiwan, Taiwan, R.O.C (2003)
[4] Jun-Kai Chen, “A Study on the Design and Control of a 3-DOF Planner Virtual Reality Simulator,” Unpublished master thesis, Tatung University, Taipei, Taiwan, R.O.C (2004)
[5] Yung-Fu Cheng, “A Study on the Design and Control of a 3-DOF Motion Simulator for Virtual Reality Systems,” Unpublished master thesis, Tatung University, Taipei, Taiwan, R.O.C (2004)
[6] Zhan-Sheng Hu, “Having the Friction Fuzzy Compensation Six Axis Stewart Platform a Stability an Orientation a Control Design and Realization,” Unpublished master thesis, Chung Hsing University, Taichung, Taiwan, Taiwan, R.O.C (2003)