互動式動態模擬載具於虛擬實境系統之控制與設計研究

Design and Control of a Haptic Interactive Motion Simulator for Virtual Entertainment Systems

陳日明(Jih-Ming Chen)

指導教授 ： 何明果

大同大學/工程學院/機械工程學系所/博士(2010年)

摘要

透過操作者與力回饋搖桿的雙向互動介面，結合遙控機器人系統（動態模擬載具與搖桿）、虛擬實境系統（力回饋搖桿與虛擬環境空間）、動態模擬載具與虛擬載具的仿真度（真實載具與虛擬載具間的轉換法則）等虛擬子系統，形成一人機結合型機器人系統。

本研究旨在建立虛擬實境與動態模擬載具的控制系統，包含了系統模式的建立（視覺、力覺、動感），真實與虛擬載具間轉換法則的特性討論，並透過Nyquist Stability Criteria來分析此閉迴路系統的穩定性，最後成功模擬出操作者於虛擬實境的仿真動感呈現。

關鍵字

虛擬實境系統 ； 動感模擬器 ； 力回饋搖桿

並列摘要

In this paper, an interactive virtual reality motion simulator is designed and analyzed. The main components of the system include a bilateral control interface, networking, a virtual environment, and a motion simulator. The virtual reality entertainment system uses a virtual environment that enables the operator to feel the actual feedback through a haptic interface as well as the distorted motion from the virtual environment just as s/he would in the real environment. The control scheme for the simulator uses the change in velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator, and the haptic feedback to the operator to maneuver the simulator in the real environment. The stability of the closed-loop system is analyzed based on the Nyquist stability criteria. It is shown that the proposed design for the simulator system works well and the theoretical findings are validated experimentally.

並列關鍵字

Active joystick ； Motion simulator system ； Virtua

參考文獻

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