摘要
针对自主设计的力反馈主手进行控制系统设计,开发用于反馈力测量及虚拟交互试验的上位机软件。首先,对主手运动学和动力学进行了分析,确定了开环阻抗控制策略和PC+运动控制器的实施方案;然后,以Lab VIEW2010环境为开发平台,通过Active X自动化技术建立上位机和下位机的通信,并应用3D Picture工具箱开发虚拟交互界面,实现了对主手运行状态的实时监控及具有3D视觉反馈和力觉反馈的虚拟交互操作;最后,利用所述的系统平台完成了静态反馈力试验和虚拟交互试验。
The control system was designed for a haptic device and a platform for force measurement and virtual interaction experiments was built. Firstly, the open-loop impedance control-scheme and PC＋ motion controller were determined according to the analysis of kinematics and dynamics. Secondly, the communication between host computer and lower machine was built by Active X based on Lab VIEW2010, and an interactive interface was developed by 3D Picture Toolbox. Then real time monitoring and virtual interaction which had feedback of 3D visual and virtual force-sense were achieved. Finally, the force-feedback of the device was validated by the experiments of static-force feedback and virtual interaction operations by above platform.
出处
《机械设计》
CSCD
北大核心
2015年第6期99-104,共6页
Journal of Machine Design
基金
国家高技术研究发展计划资助项目(2007AA04Z205)
关键词
力反馈主手
控制系统
阻抗控制
虚拟交互
haptic device
control system
impedance control
virtual interaction
