用于虚拟拆装的力反馈方法  

A Force Feedback Method Used for Virtual Disassembly and Assembly with a Joystick

作　　者：周月飞[1] 张秀山[1] 石川[2] 

机构地区：[1]海军工程大学计算机工程系,湖北武汉430033 [2]国防科技大学计算机学院,湖南长沙410073

出　　处：《计算机仿真》2010年第5期243-246,317,共5页Computer Simulation

基　　金：国防预研项目资助(060251327033)

摘　　要：研究虚拟拆装系统中,为增强用户的"沉浸感",会引入力反馈设备,但目前力反馈设备价格昂贵,同时力反馈算法也不成熟导致了力反馈的引入无法商用和推广。使用力反馈操纵杆作为力反馈设备,对虚拟拆装中常见的结构约束关系进行分析,并对约束关系变化产生的力反馈进行建模和实验实现。结果表明在精度要求不高的拆装场合,力反馈方法能够给操作人员带来直观、真实的力觉操纵感受,同时由于力反馈操纵杆价格低廉,适于推广使用。Force feedback devices are introduced in order to enhance the ＂immersion＂ of users in virtual disassembly and assembly system, but so far force feedback devices are expensive and force feedback algorithms are not fully developed, which leads to the hardness of putting force feedback into commercial use and spreading it broadly. This paper analyses some usual structural restriction relationships in virtual disassembly and assembly, models and implements the force feedback caused by the change of the restriction relationships. The method is worth using and spreading because it can bring the manipulator directive and real force feeling, and the force feedback joystick is much cheaper to be added to the system.

关 键 词：力反馈 虚拟拆装 约束关系 操纵杆 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]