平面三自由度虛擬實境模擬器之設計與控制研究

A Study on the Design and Control of a 3-DOF Planner Virtual Reality Simulator

陳駿凱(Jun-Kai Chen)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/碩士(2005年)

摘要

虛擬實境的主要目的是將操作者與動感回饋裝置結合在一起，藉由操作者的智慧，透過使用者界面，即時操縱動感回饋裝置以達成複雜的工作。系統主要組成包含了使用者界面、動態模擬與動感回饋裝置控制系統，在使用者界面方面主要由虛擬環境及視覺裝置所組成。
而本論文設計一平面三自由度模擬器來模擬虛擬實境，透過控制分析，使得在真實空間裡的模擬器可以模擬無限的2D空間虛擬場景。在控制平面三自由度模擬器方面，本實驗亦自行設計搖桿來讓操作者可以依照本身所看到的虛擬場景來做控制，而虛擬場景的部份則使用EON Studio 來做設計，虛擬場景則經由Eye-Trek可以給予操作者視覺與聽覺的感受。在操作者透過平面三自由度模擬器、搖桿、Eye-Trek即可在虛擬場景中感受到彷彿置身其中的感覺。

關鍵字

虛擬實境 ； 模擬器

並列摘要

The goal of the Virtual Reality is combining user and simulator , it is arriving complicated work by user’s wisdom . The system of the interface is including user’s interface、simulation of an event and simulator . User’s interface combines Virtual Reality and vision apparatus .
However we design 3-DOF Planner Virtual Reality Simulator to simulate VR through the analysis of control. The simulator can simulate 2D-space of VR in the real world . In this experiment , user can control the joystick to 3-DOF Planner Virtual Reality Simulator from VR . VR is designed by EON Studio and user can get the vision and hearing from Eye-Trek . So user can like being in VR by controlling 3-DOF Planner Virtual Reality Simulator、joystick and Eye-Trek .

並列關鍵字

Simulator ； Virtual Reality

參考文獻

[1] Ming-Guo Her, Kuei-Shu Hsu, Wen-Shyong Yu, and M. Karkoub, “ Analysis and Design of a Haptic Telerobotic System “ , Control Theory and Application, IEE Proceedings-, Vol. 148, Issue 4, pp.306-314, July 2001.

[2] 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.

[4] Ming-Guo Her, Kuei-Shu Hsu,” Design and Analysis of Haptic Direct Drive Robot for Virtual Reality ” , Journal of Information & Optimization Sciences, Vol. 22, 2001, pp. 441~461.

[5] Ming-Guo Her , Kuei-Shu Hsu, and Tian-Syung Lan, “Virtual Reality Application for Direct Drive Robot with Force Feedback,” International Journal of Advanced Manufacturing Technology. (in press)

[8] Ming-Gou Her and Kuei-Shu Hsu and M. Karkoub, “Design and Analysis of a Direct-Drive Haptic Interface Device for Virtual Reality Applications”, Journal of Intelligent & Robotic Systems.