索控空間三自由度動感模擬器之 設計與控制研究於虛擬實境之應用

Application on the Design and Control of Cable Controlled 3-DOF Space Haptic Simulator in Virtual Reality

黃健誠(Jian-Cheng Huang)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/碩士(2006年)

摘要

摘要
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。
在本文中我們就以飛艇當作一個例子來說明所製作的運動模擬
機。利用虛擬實境的運動模擬機取代實機飛行測試來訓練飛行駕駛員
可解決其龐大花費及高危險性的問題，而設計良好的虛擬實境動態模
擬系統可提供駕駛員擬真的即時互動環境，使其有身歷其境的感受。
做法方面：先設計控制搖桿，把輸訊號藉由搖桿來控制馬達，之
後把訊後由程式傳送給虛擬實境作運算，在把值傳送
給輸出馬達來作出使用者想要的動作。
結果方面：成功得研發出一套運動模擬系統和一套MATLAB 模擬系
統，此系統可以事先預測機構的運動情形並減少實際
操作時犯錯的機會。
本論文主要特點有下列三點:
1. 低自由度模擬高自由度
2. 有限空間模擬無限空間
3. 視覺頭盔:可以使玩家有更好的視覺效果

關鍵字

虛擬實境

並列摘要

Abstract
Virtual solid Jing system due to it also be free from the restriction
of location and space, virtual scenario can flexible variety, have
characteristics, such as convenience and security...etc., in common use at
the aspects such as"amusement" or"imitate train" etc..
In this text we regard as an example by dirigible airship to explain
exercise manufactured to imitate machine.Making use of the exercise of
virtual solid Jing emulation machine's replacing solid machine to fly to
test's canning solve its problem of huge cost and high risk, and designing
a good virtual solid Jing dynamic state emulation system to training flight
a pilot can provide a pilot to draw up to really and immediately interact
environment, making it have the feeling for experiencing personally.
Modus: Design control joystick first, lose a signal by joystick to control
motor, after Xun behind is delivered by the program to make an
operation for conjecture solid Jing, is delivering the value to
output motor to make the action that the user wants。
Result: Succeed develop the emulation system of a set of exercise and a
set of MATLAB to imitate system, this system can in advance
predict the exercise situation of organization and reduce actual
operation hour make mistake of chance.
The main distinguishing feature includes following 3 point
1：The low freedom degree imitates a high freedom degree
2：The limited space imitates infinite space
3：Vision helmet:can make the player have a better visual effect

並列關鍵字

virtual reality

參考文獻

Motion Simulator with Multiple Bilateral Controllers, ”

【3】Chung-Chih Luo, “Development of Fuzzy PIO Detector for VR

Flight Simulator, ” Unpublished master thesis, Chiao Tung

【4】Jun-Kai Chen, “A Study on the Design and Control of a 3-DOF

Planner Virtual Reality Simulator,” Unpublished master thesis,