基于气动伺服控制的虚拟现实运动模拟研究  

Research on Virtual Reality Motion Control with Pneumatics Servo Control

作　　者：尚策 史伟民[1] 单军波 SHANG Ce;SHI Wei-min;SHAN Jun-bo(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310000,China;Ningbo Jiaerling Pneumatic Machinery Co.,Ltd.,Ningbo 315502,China)

机构地区：[1]浙江理工大学机械工程学院,浙江杭州310000 [2]宁波佳尔灵气动机械有限公司,浙江宁波315502

出　　处：《液压气动与密封》2023年第6期63-67,共5页Hydraulics Pneumatics & Seals

摘　　要：提出了气动3-RPS并联平台应用于虚拟现实环境下运动模拟的解决方案。压缩空气和气动执行器作为一种廉价的驱动方式,但气动系统的强非线性、负载敏感、未知参数和死区等特性限制了运动模拟的精确度和逼真程度。从并联气动平台运动学动力学着手,基于光流图像处理技术生成关节空间的目标运动曲线,采用自适应鲁棒控制方法对气动并联运动平台进行实时轨迹跟踪的解决方案,相对传统算法,轨迹跟踪性能有了大幅提升。In this article,a method for using 3-RPS parallel pneumatic manipulator to realize the motion control for virtual reality application is proposed.Started with mechanism kinematics and dynamics,the model based adaptive robust controller is described and the trajectory generation algorithm is developed based on light-flow image processing.With the realtime motion generation tool and adaptive robust controller with unknown parameters estimation,the system reaches much higher tracking accuracy than traditional version.

关 键 词：虚拟现实 气动 伺服控制 研究 

分 类 号：TH138[机械工程—机械制造及自动化]