虚拟现实力觉临场感系统的动力学建模研究

Research of the Dynamic Model in Virtual Reality Force Sense Telepresence System

介绍了虚拟现实力觉临场感系统构成,指出了虚拟现实技术是解决力觉临场感遥控作业系统时延的最有效的方法之一;实现虚拟现实力觉临场感系统的关键是建立精确的虚拟环境模型。提出了分段描述环境动力学特征的观点,并进一步讨论了不同工作区中环境的动力学模型,阐述了环境等效阻抗具有非线性、时变性;同时给出了操作者、主从机械手子系统的动力学模型。该研究将对虚拟现实力觉临场感遥控作业系统的分析、设计和控制具有重要意义。

In this paper, the composing of virtual reality technology in force telepresence teleoperation system is introduced. It discusses that virtual reality is one of the best ways to resolve the timedelay and that the key is to build the exact dynamic model of environment. It is presented that the model has different forms just according to different working sections. The idea of environment equivalent resistance having nonlinearity and timevarying characteristic is further researched. The human operator, master and slave manipulator dynamic models are also put forward. Important foundation is provided by this discussion in the paper for the stability analysis, system design, control arithmetic in virtual reality force teleprensent system.