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首页> 外文学位 >Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications.
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Control system design for robots used in simulating dynamic force and moment interaction in virtual reality applications.

机译：用于在虚拟现实应用中模拟动态力和力矩相互作用的机器人的控制系统设计。

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This dissertation presents an approach to simulating the dynamic force and moment interaction between a human and a virtual object using a robotic manipulator as the force transmitter. Accurate control of the linear and angular accelerations of the robot end effector is required in order for the correct forces and moments to be imparted on a human operating in a computer generated virtual environment. A control system has been designed which is robust in terms of stability and performance. This control system is derived from abbreviated linear and nonlinear models of the manipulator dynamics which are efficient enough for real-time implementation yet retain a sufficient level of complexity for accurate calculations. An efficient multiple-input multiple-output (MIMO) pole placement scheme has also been devised which locates the pre-specified system eigenvalues. The controller gains are given as explicit functions of a desired trajectory to be followed and, thus, are time varying such that the overall closed-loop system is rendered time-invariant. Key software elements were automatically derived and output in compiler-ready form demonstrating the feasibility of automatic, computer generated control laws for complex robotic systems. Test results are given for a PUMA 560 used to impart dynamic forces on a user operating in a virtual environment.
机译：本文提出了一种利用机器人操纵器作为力传递器来模拟人与虚拟物体之间的动态力和力矩相互作用的方法。为了对在计算机生成的虚拟环境中操作的人施加正确的力和力矩，需要对机器人末端执行器的线性和角加速度进行精确控制。已经设计了在稳定性和性能方面鲁棒的控制系统。该控制系统源自机械手动力学的线性和非线性简化模型，这些模型对于实时实现足够有效，但仍保留了足够的复杂度以进行精确的计算。还已经设计了一种有效的多输入多输出（MIMO）极点放置方案，该方案可以定位预先指定的系统特征值。控制器增益作为要遵循的期望轨迹的显式函数给出，因此随时间变化，从而使整个闭环系统保持时间不变。关键软件元素是自动派生的，并以编译器可用的形式输出，证明了复杂的机器人系统自动计算机生成控制律的可行性。给出了PUMA 560的测试结果，该PUMA 560用于向在虚拟环境中运行的用户施加动态力。

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