CN109144274B - Force feedback direction guiding system combining centroid deviation and vibration and control method - Google Patents

Force feedback direction guiding system combining centroid deviation and vibration and control method Download PDF

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CN109144274B
CN109144274B CN201811065665.5A CN201811065665A CN109144274B CN 109144274 B CN109144274 B CN 109144274B CN 201811065665 A CN201811065665 A CN 201811065665A CN 109144274 B CN109144274 B CN 109144274B
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axis
controller
mass center
steering wheel
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CN109144274A (en
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燕学智
王子婷
王庆龙
孙晓颖
陈建
温泉
赵煜
刘国红
佴威至
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Jilin University
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Jilin University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
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    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

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Abstract

The invention relates to a force feedback direction guidance system combining mass center deviation and vibration and a control method, belonging to the field of human-computer interaction. The vibration power machine comprises a mass center universal motion unit and a vibration motor unit, wherein the mass center universal motion unit provides mass center offset force feedback, the vibration motor unit provides vibration force feedback, and rotary touch feeling and translational touch feeling are presented through the mass center offset force feedback. The advantage is that the user can feel the target direction quickly and accurately. The touch ball body is movable, convenient to use, capable of achieving direction guidance with six degrees of freedom in a three-dimensional space, and applicable to medical rehabilitation, VR handles, mice, mobile phones, tablets and other devices.

Description

Force feedback direction guiding system combining centroid deviation and vibration and control method
Technical Field
The invention belongs to the field of human-computer interaction, and particularly relates to a force feedback direction guidance system combining centroid deflection and vibration and a control method thereof.
Background
The concept of rehabilitation medicine is born in the middle of the 20 th century, is a medical discipline for eliminating and relieving the dysfunction of people, making up and reconstructing the loss of function of people and trying to improve and improve various functions of people, and relates to the prevention, diagnosis, evaluation, treatment, training and treatment of the dysfunction. Rehabilitation has been an important component of modern medicine. With the continuous influence of the development experience of the foreign rehabilitation therapy, the continuous improvement and opening of the domestic policy and the new mode of the rehabilitation therapy, the new technology comes out endlessly and brings an important development opportunity for the rehabilitation therapy.
The number of people in China, the aged population, the disabled population and the chronic disease patients is gradually increased year by year, the demand of rehabilitation medical treatment is higher and higher, and the supply end is relatively tragic in sharp contrast with the potential demand of rehabilitation.
Nowadays, with the rapid development of the computer industry, the number, types and functions of portable terminals are increasing, and their functions are becoming more and more abundant.
US patent "advanced information presentation system and method" (application number US20170220112a1) controls the direction and magnitude of the force or torque generated by each pair of eccentric rotators on each axis by placing a pair of eccentric rotators on each of the x, y, and z axes, respectively. The six-degree-of-freedom direction guidance of the three-dimensional space is realized through vector synthesis, but the device is large in size and inconvenient to use, only can provide vibration force feedback, and is single in touch mode.
The invention relates to a Chinese patent application 'a hand function comprehensive rehabilitation training platform' (CN 107928989A). The invention aims to help patients to strengthen muscle strength and is used for hand function comprehensive rehabilitation training of upper limb muscle strength rehabilitation training, but certain field is needed during rehabilitation training, the device is large in size, heavy in weight and not portable.
The invention discloses an electric auxiliary upper limb medical rehabilitation mechanism (CN107320290A), which comprises a seat rotating shaft, an upper swing rod and an auxiliary motor, wherein the upper swing rod is driven by the upper auxiliary motor to operate, so that the rehabilitation motion of the hands of a patient is assisted. However, the device is large in size, heavy in weight and not portable.
Disclosure of Invention
The invention provides a force feedback direction guidance system combining mass center deviation and vibration and a control method.
The technical scheme adopted by the invention is as follows: a force feedback direction guidance system combining centroid shift and vibration is characterized in that a controller III in an upper computer is connected with a wireless communication module I, the wireless communication module I is wirelessly connected with a wireless communication module II in a centroid universal motion unit, a nine-axis sensor in the centroid universal motion unit is respectively and electrically connected with a wireless communication module II and a controller I, the wireless communication module II is electrically connected with the controller I, the wireless communication module II is wirelessly connected with the controller II in a lower hemisphere, the controller I is respectively and electrically connected with a motor I and a motor II, the controller II is respectively and electrically connected with a power amplifier I, a power amplifier II and a power amplifier III which are positioned in the lower hemisphere, the power amplifier I is respectively and electrically connected with a voice coil motor I in the upper hemisphere and a voice coil motor VI in the lower hemisphere, the power amplifier II is respectively and electrically connected with a voice coil motor II and a voice coil motor IV in the lower hemisphere, the power amplifier III is electrically connected with a voice coil motor III and a voice coil motor V which are positioned in the lower hemisphere respectively;
the upper hemisphere is in threaded connection with the lower hemisphere, the mass center universal motion unit is located in the upper hemisphere and the lower hemisphere and is bonded with the lower hemisphere, a first voice coil motor is placed in the top of an upper hemisphere shell of the upper hemisphere, a sixth voice coil motor is placed in the bottom of a lower hemisphere shell of the lower hemisphere, a second voice coil motor, a fourth voice coil motor, a third voice coil motor and a fifth voice coil motor are uniformly distributed in the middle of the lower hemisphere shell, and a second circuit board is located in the lower hemisphere shell.
The second motor and the fourth motor are respectively arranged at the positive position and the negative position of the X axis, and the long sides of the second motor and the fourth motor are parallel to the Y axis; the third motor and the fifth motor are respectively arranged at the positive position and the negative position of the Y axis, and the long sides of the third motor and the fifth motor are parallel to the Z axis; the six motors are placed on the negative position of the Z axis, the long edges of the six motors are parallel to the X axis, the first motors are placed on the positive position of the Z axis, and the long edges of the first motors are parallel to the X axis.
The mass center universal motion unit structure is as follows: the inside carrier that sets up of spherical shell, the upper portion and the spring one end of this carrier are connected, this spring other end and spheroid are connected, the spring makes spheroid and carrier and spherical shell inner wall top connect and with can the inner wall slide, the top fixed connection of circuit board one and carrier, the below fixed connection of battery and carrier, wireless charging port is connected with the battery electricity, motor one and motor two respectively with carrier below fixed connection, motor one and motor two are connected with directive wheel one and directive wheel two through antithetical couplet connecting device respectively, directive wheel one and directive wheel two respectively with spherical shell's inner wall sliding connection.
The first circuit board is provided with a first controller, a nine-axis sensor and a second wireless communication module.
The contact point of the sphere and the inner wall of the spherical shell is positioned at the radial opposite position of the midpoint of the connecting line of the first steering wheel and the second steering wheel with the contact point of the inner wall.
The first motor, the second motor and the first steering wheel, and the second steering wheel is used as a mass center universal motion driving module.
The second circuit comprises a second controller, a first power amplifier, a second power amplifier and a third power amplifier.
The upper hemisphere and the lower hemisphere form a vibration motor unit, and the vibration motor unit and the mass center universal motion unit are called as a tactile ball.
A method of controlling a combined centroid deflection and vibration force feedback direction guidance system, comprising:
the control method for presenting the rotary touch comprises the following steps:
1) initialization
When the system is not powered, the mass center is positioned at any position; when power is supplied, the nine-axis sensor obtains an included angle theta between a connecting line of the mass center G and the geometric center O of the spherical shell and the gravity direction by measuring the earth magnetic field0；
The nine-axis sensor outputs position information when the mass center is located at any position and transmits the position information to the first controller, the first controller receives the position information and calculates the rotating motion parameters to generate universal motion information 0, and the first motor and the second motor are enabled to rotate at an angular speed omega0Rotating in the same direction and judging whether the rotation angle of the universal motion driving module reaches theta0(ii) a If not, continuing to move; if so, stopping the movement of the first motor and the second motor, and ending the process; the process makes the universal motion driving module rotate to gravity along the inner wall of the spherical shell of the mass center universal motion unitDirection, movement time of
Figure BDA0001798034560000031
t0The time is short, and the rotating feeling of a user cannot be caused; angular velocity omega0Is a system default value;
2) calculating parameters required for rotational movement
Torque in any direction in three-dimensional space
Figure BDA0001798034560000032
The component in the XY plane being
Figure BDA0001798034560000033
In the Z-axis component of
Figure BDA0001798034560000034
Figure BDA0001798034560000035
The included angle between the Z axis and the Z axis is theta2，
Figure BDA0001798034560000036
The included angle between the Y axis and the Y axis on the XY plane is theta1Controller a pair of torques
Figure BDA0001798034560000037
Carrying out stress analysis and calculating the parameter theta required by translation clue1，θ2；
3) Rotate to
Figure BDA0001798034560000038
Direction
a) From an initial position to
Figure BDA0001798034560000039
Direction
The connecting line of the geometric center O and the mass center G of the spherical shell of the mass center universal motion unit is vertically downward, the position at the moment is set as an initial position, and at the initial position, the first motor and the second motor respectively rotate at an angular speed omega1Reverse rotationThe first steering wheel and the second steering wheel rotate by a rotation angle theta by taking the middle point of a connecting line of the two wheels as a rotation center1To
Figure BDA00017980345600000310
Direction, t1For two rotation times, in which the angle of rotation θ1Less than or equal to 90 degrees, omega1Is a system default value;
t1＝θ1/ω1
the method comprises the steps that a host computer end sends scene updating information, a wireless communication module of a mass center universal motion unit receives the scene information and then transmits the scene information to a first controller, a nine-axis sensor outputs mass center initial position information and transmits the mass center initial position information to the first controller, the first controller receives the initial position information and the scene updating information, the first controller generates universal motion driving information 1 to enable a first motor and a second motor to drive the first motor and the second motor to rotate at an angular speed omega1Reversely rotates and judges whether the rotation angle of the universal motion driving module reaches theta1If not, continuing to move; if the time is up, the first motor and the second motor stop moving, and the process is finished, wherein the reverse movement time of the two motors is t1，t1The time is short, and the rotating feeling of a user cannot be caused;
b) from
Figure BDA0001798034560000041
Rotate to
Figure BDA0001798034560000042
Direction
After step a), the first and second motors are driven at an angular velocity ω2Rotate in the same direction to make two wheels rotate at the same angular speed omega2The same direction movement, namely the mass center universal movement driving module takes the geometric center O of the spherical shell of the mass center universal movement unit as the rotation center and the angular speed is omega2Movement, angle of rotation theta2Wherein theta2Is composed of
Figure BDA0001798034560000043
Angle to the Z axis, t2For two revolutions, omega2Is a default of the systemA value;
t2＝θ2/ω2
the nine-axis sensor outputs the position information of the mass center to the first controller, the first controller receives the position information 2, the first controller generates the universal motion driving information 2 to enable the first motor and the second motor to rotate at the angular speed omega2Rotating in the same direction and judging whether the rotation angle of the universal motion driving module reaches theta2If not, continuing to move; if the time is up, the first motor and the second motor stop moving, and the process is finished, wherein the reverse movement time of the two motors is t2，t2The time is short, and the rotating feeling of a user cannot be caused;
4) presenting rotational haptics
After completion of step 3), determining
Figure BDA0001798034560000044
The direction is a rotating shaft, the mass center universal motion unit continuously rotates to present a rotating touch sense, and the first motor and the second motor respectively rotate at an angular speed omega3The reverse rotation makes the first steering wheel and the second steering wheel rotate for a time t by taking the middle point of a connecting line of the two wheels as a rotating center3Wherein the angular velocity of the first steering wheel and the second steering wheel is omega3，t3Sufficient to cause a user to perceive a rotation, ω3The angular velocity at which the user perceives the optimal haptic effect of rotation can be measured experimentally;
Figure BDA0001798034560000045
j is the rotational inertia of the universal motion driving module, and can be measured through experiments, and the torque generated by the mass center universal motion module is
Figure BDA0001798034560000046
It has a size of
Figure BDA0001798034560000047
The user holds the tactile ball to sense the rotation of the internal object and takes the rotation direction of the internal object as the rotation of the userA thread;
the nine-axis sensor outputs centroid position information 3 to the first controller, the first controller receives the position information 3, the first controller generates universal motion driving information 3 to enable the first motor and the second motor to rotate at an angular speed omega1Reversely rotates and judges whether the two-wheel rotation time reaches t3If not, continuing to move; if the current time reaches the preset time, stopping the motion of the first motor and the second motor, and ending the process;
the control method for the vibration motor unit to present the translation clue comprises the following steps:
1) calculating parameters required by translation clues
For a user to hold a standard position of the haptic ball, but the haptic ball may be shifted from the standard position when a human body moves, a coordinate transformation is required, and the coordinate transformation method is as follows:
for two space coordinate systems O-XYZ and O '-X' Y 'Z' with arbitrary rotation transformation, the coordinate origins of the two coordinate systems are coincided, and the coincidence of the coordinate axes corresponding to the two coordinate systems can be realized by sequentially rotating the three coordinate axes by a certain angle;
the coordinate system O-XYZ rotates around the X axis, the Y axis and the Z axis thereof in turn in a counterclockwise direction by alpha, beta and gamma respectively and then can be superposed with the coordinate system O ' -X ' Y ' Z ', so that the description relationship of a certain point X, Y and Z in the space in the two coordinate systems is as follows, and the transformed coordinates X ', Y ' and Z ';
if the coordinate system O-XYZ is rotated by alpha around the X axis of the coordinate system O '-X' Y 'Z' in a counterclockwise direction, the coordinate description of a point in space in the coordinate systems O-XYZ and O '-X' Y 'Z' has the following relationship:
Figure BDA0001798034560000051
if the coordinate system O-XYZ is rotated by β counterclockwise around its Y axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure BDA0001798034560000052
if the coordinate system O-XYZ is rotated by γ counterclockwise around its Z axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure BDA0001798034560000053
after the coordinate system O-XYZ rotates alpha, beta and gamma counterclockwise around the X axis, the Y axis and the Z axis of the coordinate system O-XYZ in sequence, the coordinate system O '-X' Y 'Z' can be superposed, and the corresponding coordinate relationship is as follows:
R＝Rx(α)Ry(β)Rz(γ)
Figure BDA0001798034560000054
Figure BDA0001798034560000061
if in O-XYZ coordinate system
Figure BDA0001798034560000062
The coordinate is (F)x，Fy，Fz) Therefore, under the O '-X' Y 'Z' coordinate system
Figure BDA0001798034560000063
The coordinate is (F)x，Fy，Fz)，(Fx，Fy，Fz) And (F)x，Fy，Fz) The transformation relationship of (1) is as follows:
Figure BDA0001798034560000064
the nine-axis sensor sends the position information to the second controller, and the second controller calculates the parameter U required by the translational motionx'， Uy'，Uz' then sends the required parameters to power amplifier one, power amplifier two, power amplifier three, where Ux' is controlVoltage applied to the first power amplifier by the second controller
Figure BDA0001798034560000065
Uy' Voltage applied to the second power amplifier for the second controller
Figure BDA0001798034560000066
Uz' the voltage applied to the power amplifier three by the controller two,
Figure BDA0001798034560000067
Umaxis the maximum output voltage of the controller;
Ux'，Uy'，Uzconverting the power into I through a first power amplifier, a second power amplifier and a third power amplifierx'，Iy'， Iz'，
Figure BDA0001798034560000068
ImaxTo the maximum output current, IxInputting current for a first motor and a sixth motor; i isyInputting current for a second motor and a fourth motor; i iszInputting current for a third motor and a fifth motor;
2) motor vibration providing force feedback
The vibration amplitude and the vibration direction of the first motor and the sixth motor are the same and respectively provide force
Figure BDA0001798034560000069
Force of
Figure BDA00017980345600000610
Parallel to the X' axis; the vibration amplitude and the vibration direction of the second motor and the fourth motor are the same and respectively provide force
Figure BDA00017980345600000611
Force of
Figure BDA00017980345600000612
Parallel to the Y' axis direction; vibration amplitude and vibration direction of motor three and motor fiveSame, respectively providing force
Figure BDA00017980345600000613
Force of
Figure BDA00017980345600000614
Parallel to the Z' -axis;
Figure BDA00017980345600000615
for any force vector in three-dimensional space
Figure BDA00017980345600000616
Component on the X' axis of magnitude equal to
Figure BDA00017980345600000617
And
Figure BDA00017980345600000618
the sum of (1);
Figure BDA00017980345600000619
for any force vector in three-dimensional space
Figure BDA00017980345600000620
Component on the Y' axis of magnitude equal to
Figure BDA00017980345600000621
And
Figure BDA00017980345600000622
the sum of (1);
Figure BDA00017980345600000623
for any force vector in three-dimensional space
Figure BDA00017980345600000624
Component in the Z' axis of magnitude equal to
Figure BDA00017980345600000625
And
Figure BDA00017980345600000626
the sum of (1);
Figure BDA00017980345600000627
Figure BDA0001798034560000071
Figure BDA0001798034560000072
Figure BDA0001798034560000073
3) presenting translational haptics
The tactile ball is contacted with the palm of the user, and the user can feel the resultant force on the spherical shell of the vibration motor
Figure BDA0001798034560000074
And will combine the force
Figure BDA0001798034560000075
The direction of (2) is a translation direction, and the vibration motor unit can generate a force in any direction in a three-dimensional space through vector synthesis of the force.
The invention comprises a mass center universal motion unit and a vibration motor unit. The mass center universal motion unit provides force feedback of mass center deviation with continuously changed mass center positions, the vibration motor unit provides vibration force feedback in fixed deviation, and a user can quickly and accurately sense a target direction by combining vibration and the force feedback method of mass center deviation. The touch ball body is movable, convenient to use, small in size, light in weight, capable of achieving direction guidance of six degrees of freedom in a three-dimensional space, and applicable to devices such as VR handles, mice, mobile phones and flat panels. The touch ball is convenient to use, real in touch, high in direction identification accuracy and short in sensing time. When a user holds the haptic ball, the user can quickly and intuitively feel the directional force and the torque generated by the system. The system can provide force feedback for medical rehabilitation of hands and arms and help a user to complete rehabilitation tasks.
The invention has the advantages that:
1) the two touch modes of mass center offset and vibration are fused, the vibration motor unit provides low-frequency vibration force feedback on the vibration motor unit, and the universal driving unit provides continuously-changed and dynamic mass center offset force feedback. By combining the force feedback method of vibration and centroid deviation, the feedback force dimensionality is expanded, and the haptic feedback authenticity is improved.
2) The touch ball body is movable, the use is convenient, and the six-degree-of-freedom direction guidance can be realized on a three-dimensional space.
3) The system can present rotational and translational haptics simultaneously.
4) The system can effectively present translation and rotation clues, not only can be applied to pedestrian navigation, but also can be applied to aspects of medical rehabilitation, education, physical training, entertainment and the like, for example, when the elbow joint of a user is injured, the system can be used at home to receive direction information by using the equipment and is used for strengthening the rehabilitation of the elbow; the user can use the device to accept real-time information to correct the action error; the tactile ball may be used to guide hand movements when learning to write.
Drawings
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of the haptic sphere of the present invention;
FIG. 3a is a schematic diagram of the structure of the center of mass universal kinematic unit of the present invention;
FIG. 3b is a schematic structural diagram of a first circuit board of the centroid universal motion unit of the invention;
fig. 4a is a schematic structural view of a vibration motor unit of the present invention;
FIG. 4b is a schematic diagram of the second embodiment of the present invention;
FIG. 5a is a current waveform diagram of the present invention;
FIG. 5b is a graph of the current waveform after flipping in accordance with the present invention;
FIG. 6 is a force diagram of a voice coil motor of the present invention;
FIG. 7 shows the rotational angle θ of the gimbal drive module0A schematic diagram;
FIG. 8 shows the rotational angle θ of the universal motion driving module according to the present invention0A flow chart;
FIG. 9 is a schematic torque vector decomposition diagram of the present invention;
FIG. 10a shows the rotational angle θ of the universal motion drive module of the present invention1A schematic diagram;
FIG. 10b shows the rotational angle θ of the universal motion drive module of the present invention1A top view;
FIG. 11 shows the rotational angle θ of the universal motion drive module of the present invention1A flow chart;
FIG. 12 shows the rotational angle θ of the universal motion drive module of the present invention2A schematic diagram;
FIG. 13 shows the rotational angle θ of the universal motion drive module of the present invention2A flow chart;
FIG. 14 shows the universal motion drive module rotation time t of the present invention3A schematic diagram;
FIG. 15 shows the rotational time t of the gimbaled motion drive module of the present invention3A flow chart;
FIG. 16 shows the force generated by the vibration motor unit of the present invention
Figure BDA0001798034560000081
A schematic diagram;
FIG. 17 is a schematic diagram of the user-perceived panning touch of the present invention.
Detailed Description
As shown in fig. 1, a controller three 401 in the upper computer 4 is connected with a wireless communication module one 402, the wireless communication module one 402 is wirelessly connected with a wireless communication module two 1051 in the centroid universal motion unit 1, a nine-axis sensor 1052 in the centroid universal motion unit 1 is respectively electrically connected with the wireless communication module two 1051 and the controller one 1053, the wireless communication module two 1051 is electrically connected with the controller one 1053, the wireless communication module two 1051 is wirelessly connected with the controller two 2012 in the lower hemisphere 2, the controller one 1053 is respectively electrically connected with the motor one 110 and the motor two 111, the controller two 2012 is respectively electrically connected with a power amplifier one 2011, a power amplifier two 2013 and a power amplifier three 2014 in the lower hemisphere 2, the power amplifier one 2011 is respectively electrically connected with a voice coil motor one 301 in the upper hemisphere 3 and a voice coil motor six 206 in the lower hemisphere 2, the power amplifier two 2013 is respectively electrically connected with a voice coil motor two 202 and a voice coil motor four 203 in the lower hemisphere 2, the power amplifier III 2014 is electrically connected with a voice coil motor III 204 and a voice coil motor V205 which are positioned in the lower hemisphere 2 respectively;
the upper hemisphere 3 is in threaded connection with the lower hemisphere 2, the centroid universal motion unit 1 is located in the upper hemisphere 3 and the lower hemisphere 2 and is bonded with the lower hemisphere 2, a first voice coil motor 301 is placed in the top of an upper hemisphere shell 302 of the upper hemisphere 3, a sixth voice coil motor 206 is placed in the bottom of a lower hemisphere shell 207 of the lower hemisphere 2, a second voice coil motor 202, a fourth voice coil motor 203, a third voice coil motor 204 and a fifth voice coil motor 205 are uniformly distributed in the middle of the lower hemisphere shell 207, and a second circuit board 201 is located in the lower hemisphere shell 207;
the second motor 202 and the fourth motor 204 are respectively arranged at the positive position and the negative position of the X axis, and the long side of the second motor 202 and the long side of the fourth motor 204 are parallel to the Y axis; the third motor 203 and the fifth motor 205 are respectively arranged at the positive Y-axis position and the negative Y-axis position, and the long sides of the third motor 203 and the fifth motor 205 are parallel to the Z axis; a motor six 206 is placed on the negative position of the Z axis, the long side of the motor six 206 is parallel to the X axis, a motor one 301 is placed on the positive position of the Z axis, and the long side of the motor one 301 is parallel to the X axis;
as shown in fig. 2, a voice coil motor is disposed in the upper hemisphere 3; 5 voice coil motors and a circuit II are arranged in the lower hemisphere 2; the upper hemisphere 3 is connected with the lower hemisphere 2 through threads, and the mass center universal motion unit 1 is located in the upper hemisphere 3 and the lower hemisphere 2 and is bonded with the lower hemisphere 2 and used for guiding the touch direction;
as shown in fig. 3a, the structure of the centroid universal motion unit 1 is: a carrier 102 is arranged in a spherical shell 106, the upper part of the carrier 102 is connected with one end of a spring 103, the other end of the spring is connected with a sphere 104, the spring 103 enables the sphere 104 and the carrier 102 to be abutted against the inner wall of the spherical shell 106 and to slide along the inner wall, a circuit board I105 is fixedly connected with the upper part of the carrier 102, a battery 101 is fixedly connected with the lower part of the carrier 102, a wireless charging port 107 is electrically connected with the battery 101, a motor I110 and a motor II 111 are respectively fixedly connected with the lower part of the carrier 102, the motor I110 and the motor II 111 are respectively connected with a first steering wheel 108 and a second steering wheel 109 through a connecting device, and the first steering wheel 108 and the second steering wheel 109 are respectively connected with the inner wall of;
the mass center universal motion unit 1 can cause the mass center to shift in any direction in a three-dimensional space, presents the feedback of the mass center shifting force for a user, and provides the rotating touch sense for the user by controlling the speed of the mass center shifting;
the first circuit board 105 is provided with a first controller 1053, a nine-axis sensor 1052 and a second wireless communication module 1051;
the contact point of the sphere 104 and the inner wall of the spherical shell 106 is positioned at the radial opposite position of the midpoint of the connecting line of the first steering wheel 108, the second steering wheel 109 and the contact point of the inner wall;
centroid gimbal unit spherical shell 106: wireless signals can freely pass through the spherical shell 106 which is composed of two hemispherical shells, so that the spherical shell can be opened to access internal devices;
the first motor 110, the second motor 111, the first steering wheel 108 and the second steering wheel 109 are used as mass center universal motion driving modules;
a first steering wheel 108, a second steering wheel 109 contacting the inner wall of the spherical shell, a rubber material coating the first steering wheel 108 and the second steering wheel 109 to increase friction, and the power of the motor transmitted to the outer surface of the spherical shell through the first steering wheel 108 and the rotation of the second steering wheel 109;
as shown in fig. 4b, the second circuit 201 includes a second controller 2012, a first power amplifier 2011, a second power amplifier 2013, and a third power amplifier 2014;
the second controller 2012 is used for individually controlling the voltages (waveform, amplitude, duration) input to each of the power amplifiers, each of which amplifies the input currents of the two motors. The first power amplifier 2011, the second power amplifier 2013 and the third power amplifier 2014 are used for converting the voltage into the current, amplifying the current and finally amplifying the power of the signal. The gain of the power amplifier 2011 is G (a/V), where G is the gain and the unit of the gain is a/V;
the upper hemisphere 3 and the lower hemisphere 2 form a vibration motor unit, and the vibration motor unit and the mass center universal motion unit are called as a tactile ball.
In the working process of the invention, as shown in fig. 1, a scene selected by a user is used as input information, and a controller in an upper computer 4 carries out scene updating and posture changing. The upper computer 4 updates the scene through the wireless communication module 402, and sends posture change information to the wireless communication module 1051 of the haptic sphere. The nine-axis sensor 1052 of the haptic sphere sends position information to the wireless communication module 1051 and the controller one 1053 of the haptic sphere. The first controller 1053 of the haptic sphere obtains scene updates, pose transformation information, and position information from the nine-axis sensor 1052 from the wireless communication module 1051. The first controller 1053 calculates the parameters required by the rotational motion, including the rotational direction, angular velocity, angle, duration of the first motor 110 and the second motor 111, and the first controller 1053 rotates the centroid universal motion driving module 1108 to present the rotational touch sense; the controller of haptic sphere two 2012 obtains scene updates, pose transformation information, and position information from the wireless communication module 1051. The second controller 2012 calculates parameters required by the translation clue, including waveform, direction and amplitude of output voltage, and the voltage is amplified by the first power amplifier 2011 and then input to the first voice coil motor 301 and the sixth voice coil motor 206; the voltage is amplified by a second power amplifier 2013 and then input into a second voice coil motor 202 and a fourth voice coil motor 203; the voltage is amplified by a power amplifier three 2014 and then input into a voice coil motor three 204, and after the voice coil motor five 205, the motor vibrates to present a translational touch sense.
The mass center universal motion unit 1 presents torque in any direction in a three-dimensional space, so that a user can sense rotary touch, the vibration motor unit vibrates to present force in any direction in the three-dimensional space, and the user judges a translation motion clue according to the force-bearing direction.
A method of controlling a combined centroid deflection and vibration force feedback direction guidance system, comprising:
the control method for presenting the rotary touch comprises the following steps:
1) initialization
As shown in fig. 7 and 8, when power is not supplied to the system, the center of mass is located at any position; when power is supplied, the nine-axis sensor 1052 obtains an included angle theta between a connecting line of the mass center G and the geometric center O of the spherical shell relative to the gravity direction by measuring the earth magnetic field0；
As shown in fig. 8, the nine-axis sensor 1052 outputs the position information when the centroid is located at any position and transmits the position information to the first controller 1053, the first controller 1053 receives the position information and calculates the rotational motion parameter to generate the universal motion information 0, so that the first motor 110 and the second motor 111 rotate at an angular velocity ω0Rotating in the same direction and judging whether the rotation angle of the universal motion driving module reaches theta0(ii) a If not, continuing to move; if so, stopping the movement of the first motor and the second motor, and ending the process; the process enables the universal motion driving module to rotate to the gravity direction along the inner wall of the spherical shell of the mass center universal motion unit, and the motion time is
Figure BDA0001798034560000111
t0The time is short, and the rotating feeling of a user cannot be caused; angular velocity omega0Is a system default value;
2) calculating parameters required for rotational movement
As shown in FIG. 9, the torque in any direction in the three-dimensional space
Figure BDA0001798034560000112
The component in the XY plane being
Figure BDA0001798034560000113
In the Z-axis component of
Figure BDA0001798034560000114
Figure BDA0001798034560000115
The included angle between the Z axis and the Z axis is theta2，
Figure BDA0001798034560000116
And the Y axis on the XY planeAngle of theta1Controller I1053 for torque
Figure BDA0001798034560000117
Carrying out stress analysis and calculating the parameter theta required by translation clue1，θ2；
3) Rotate to
Figure BDA0001798034560000118
Direction
a) From an initial position to
Figure BDA0001798034560000119
Direction
As shown in fig. 10a and 10b, the connecting line between the geometric center O and the centroid G of the spherical housing of the centroid universal motion unit is directed vertically downward, and the position at this time is set as an initial position, and at the initial position, the first motor and the second motor respectively rotate at an angular velocity ω1The reverse rotation enables the first steering wheel 108 and the second steering wheel 109 to rotate by an angle theta by taking the middle point of the connecting line of the two wheels as the rotation center1To
Figure BDA00017980345600001110
Direction, t1For two rotation times, in which the angle of rotation θ1Less than or equal to 90 degrees, omega1Is a system default value;
t1＝θ1/ω1
as shown in fig. 11, the upper computer 4 sends scene update information, the wireless communication module of the centroid universal motion unit receives the scene information and transmits the scene information to the first controller 1053, the nine-axis sensor 1052 outputs centroid initial position information and transmits the centroid initial position information to the first controller 1053, the first controller 1053 receives the initial position information and the scene update information, the first controller 1053 generates universal motion driving information 1 to enable the first motor and the second motor to drive the first motor and the second motor at an angular velocity ω1Reversely rotates and judges whether the rotation angle of the universal motion driving module reaches theta1If not, continuing to move; if the time is up, the first motor and the second motor stop moving, and the process is finished, wherein the reverse movement time of the two motors is t1，t1The time is short, and the rotating feeling of a user cannot be caused;
b) from
Figure BDA00017980345600001111
Rotate to
Figure BDA00017980345600001112
Direction
After step a), as shown in fig. 12, the first motor 110 and the second motor 111 rotate at an angular velocity ω2Rotate in the same direction to make two wheels rotate at the same angular speed omega2The same direction movement, namely the center of mass universal movement driving module takes the geometric center O of the spherical shell 106 of the center of mass universal movement unit as the rotation center and the angular velocity is omega2Movement, angle of rotation theta2. Wherein theta is2Is composed of
Figure BDA0001798034560000121
Angle to the Z axis, t2For two revolutions, omega2Is a system default value;
t2＝θ2/ω2
as shown in fig. 13, the nine-axis sensor 1052 outputs the position information 2 of the center of mass to the first controller 1053, the first controller 1053 receives the position information 2, and the first controller 1053 generates the universal motion driving information 2 to enable the first motor and the second motor to rotate at the angular velocity ω2Rotating in the same direction and judging whether the rotation angle of the universal motion driving module reaches theta2If not, continuing to move; if the time is up, the first motor and the second motor stop moving, and the process is finished, wherein the reverse movement time of the two motors is t2，t2The time is short, and the rotating feeling of a user cannot be caused;
4) presenting rotational haptics
As shown in fig. 14, after completion of step 3), determination is made
Figure BDA0001798034560000122
The direction is a rotating shaft, the mass center universal motion unit continuously rotates to present a rotating touch sense, and the first motor 110 and the second motor 111 respectively rotate at an angular speed omega3Reverse directionThe steering wheel I108 and the steering wheel II 109 are rotated to keep rotating for a time t by taking the middle point of a connecting line of the two wheels as a rotating center3Wherein the angular velocity of the first steering wheel 108 and the second steering wheel 109 is ω3，t3Sufficient to cause a user to perceive a rotation, ω3The angular velocity at which the user perceives the optimal haptic effect of rotation can be measured experimentally;
Figure BDA0001798034560000123
j is the rotational inertia of the universal motion driving module, and can be measured through experiments, and the torque generated by the mass center universal motion module is
Figure BDA0001798034560000124
It has a size of
Figure BDA0001798034560000125
The user holds the touch ball body to sense the rotation of the internal object, and the rotation direction of the internal object is used as a rotation clue of the user;
as shown in fig. 15, the nine-axis sensor 1052 outputs the centroid position information 3 to the first controller 1053, the first controller 1053 receives the position information 3, the first controller 1053 generates the universal motion driving information 3 to make the first motor 110 and the second motor 111 rotate at the angular velocity ω1Reversely rotates and judges whether the two-wheel rotation time reaches t3If not, continuing to move; if the current time reaches, the first motor 110 and the second motor 111 stop moving, and the process is finished;
the control method for the vibration motor unit to present the translation clue comprises the following steps:
1) calculating parameters required by translation clues
As shown in fig. 16, the standard position of the haptic ball is held by the user, but the haptic ball may be shifted from the standard position when the human body moves, and to solve this problem, a coordinate transformation is required as follows:
for two space coordinate systems O-XYZ and O '-X' Y 'Z' with arbitrary rotation transformation, the coordinate origins of the two coordinate systems are coincided, and the coincidence of the coordinate axes corresponding to the two coordinate systems can be realized by sequentially rotating the three coordinate axes by a certain angle;
the coordinate system O-XYZ rotates around the X axis, the Y axis and the Z axis thereof in turn in a counterclockwise direction by alpha, beta and gamma respectively and then can be superposed with the coordinate system O ' -X ' Y ' Z ', so that the description relationship of a certain point X, Y and Z in the space in the two coordinate systems is as follows, and the transformed coordinates X ', Y ' and Z ';
if the coordinate system O-XYZ is rotated by alpha around the X axis of the coordinate system O '-X' Y 'Z' in a counterclockwise direction, the coordinate description of a point in space in the coordinate systems O-XYZ and O '-X' Y 'Z' has the following relationship:
Figure BDA0001798034560000131
if the coordinate system O-XYZ is rotated by β counterclockwise around its Y axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure BDA0001798034560000132
if the coordinate system O-XYZ is rotated by γ counterclockwise around its Z axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure BDA0001798034560000133
after the coordinate system O-XYZ rotates alpha, beta and gamma counterclockwise around the X axis, the Y axis and the Z axis of the coordinate system O-XYZ in sequence, the coordinate system O '-X' Y 'Z' can be superposed, and the corresponding coordinate relationship is as follows:
R＝Rx(α)Ry(β)Rz(γ)
Figure BDA0001798034560000134
Figure BDA0001798034560000135
if in O-XYZ coordinate system
Figure BDA0001798034560000136
The coordinate is (F)x，Fy，Fz) Therefore, under the O '-X' Y 'Z' coordinate system
Figure BDA0001798034560000137
The coordinate is (F)x，Fy，Fz)，(Fx，Fy，Fz) And (F)x，Fy，Fz) The transformation relationship of (1) is as follows:
Figure BDA0001798034560000141
the nine-axis sensor 1052 sends the position information to the controller two 2012, and the controller two 2012 calculates the parameter U required for the translational movementx'，Uy'，Uz', then sends the required parameters to power amplifier one 2011, power amplifier two 2013, power amplifier three 2014, where Ux' Voltage applied to Power Amplifier one 2011 for controller two 2012
Figure BDA0001798034560000142
Uy' Voltage applied to Power Amplifier II 2013 for controller II 2012
Figure BDA0001798034560000143
Uz' is the voltage applied by controller two 2012 to power amplifier three 2014,
Figure BDA0001798034560000144
Umaxis the maximum output voltage of the controller;
Ux'，Uy'，Uzthe power is converted into I by a first power amplifier 2011, a second power amplifier 2013 and a third power amplifier 2014x'，Iy'，Iz'
Figure BDA0001798034560000145
ImaxIs the maximum output current. I isxMotor one 301 and motor six 206 input current; i isyFor motor two 202, motor four 204 inputs current; i iszMotor three 203, motor five 205 inputs current;
2) motor vibration providing force feedback
The vibration amplitudes and vibration directions of the first motor 301 and the sixth motor 206 are the same, and the first motor and the sixth motor respectively provide force
Figure BDA0001798034560000146
Force of
Figure BDA0001798034560000147
Parallel to the X' axis; the vibration amplitude and the vibration direction of the second motor 202 and the fourth motor 204 are the same, and force is respectively provided
Figure BDA0001798034560000148
Force of
Figure BDA0001798034560000149
Parallel to the Y' axis direction; the vibration amplitudes and vibration directions of the third motor 203 and the fifth motor 205 are the same, and the third motor and the fifth motor respectively provide force
Figure BDA00017980345600001410
Force of
Figure BDA00017980345600001411
Parallel to the Z' -axis;
Figure BDA00017980345600001412
for any force vector in three-dimensional space
Figure BDA00017980345600001413
Component on the X' axis of magnitude equal to
Figure BDA00017980345600001414
And
Figure BDA00017980345600001415
the sum of (1);
Figure BDA00017980345600001416
for any force vector in three-dimensional space
Figure BDA00017980345600001417
Component on the Y' axis of magnitude equal to
Figure BDA00017980345600001418
And
Figure BDA00017980345600001419
the sum of (1);
Figure BDA00017980345600001420
for any force vector in three-dimensional space
Figure BDA00017980345600001421
Component in the Z' axis of magnitude equal to
Figure BDA00017980345600001422
And
Figure BDA00017980345600001423
the sum of (1);
Figure BDA00017980345600001424
Figure BDA00017980345600001425
Figure BDA00017980345600001426
Figure BDA0001798034560000151
3) presenting translational haptics
As shown in fig. 17, the tactile ball is in contact with the palm of the user's hand, and the user can feel the resultant force on the spherical casing of the vibration motor
Figure BDA0001798034560000152
And will combine the force
Figure BDA0001798034560000153
The direction of (2) is a translation direction, and the vibration motor unit can generate a force in any direction in a three-dimensional space through vector synthesis of the force.

Claims (6)

1. A combined centroid deflection and vibration force feedback direction guidance system, comprising: a third controller in the upper computer is connected with a first wireless communication module, the first wireless communication module is wirelessly connected with a second wireless communication module in the mass center universal motion unit, a nine-axis sensor in the mass center universal motion unit is respectively and electrically connected with the second wireless communication module and the first controller, the second wireless communication module is electrically connected with the first controller, the second wireless communication module is wirelessly connected with the second controller in the lower hemisphere, the first controller is respectively and electrically connected with the first motor and the second motor, the second controller is respectively and electrically connected with a first power amplifier in the lower hemisphere, the power amplifier II is electrically connected with the voice coil motor II in the upper hemisphere and the voice coil motor III in the lower hemisphere respectively, the power amplifier II is electrically connected with the voice coil motor II in the lower hemisphere and the voice coil motor IV in the lower hemisphere respectively, and the power amplifier III is electrically connected with the voice coil motor III in the lower hemisphere and the voice coil motor V in the lower hemisphere respectively;
the upper hemisphere is in threaded connection with the lower hemisphere, the mass center universal motion unit is located in the upper hemisphere and the lower hemisphere and is bonded with the lower hemisphere, a first voice coil motor is placed in the top of an upper hemisphere shell of the upper hemisphere, a sixth voice coil motor is placed in the bottom of a lower hemisphere shell of the lower hemisphere, a second voice coil motor, a fourth voice coil motor, a third voice coil motor and a fifth voice coil motor are uniformly distributed in the middle of the lower hemisphere shell, and a second circuit board is located in the lower hemisphere shell;
the mass center universal motion unit structure is as follows: the inside of the spherical shell is provided with a carrier, the upper part of the carrier is connected with one end of a spring, the other end of the spring is connected with the spherical body, the spring enables the spherical body and the carrier to be abutted against the inner wall of the spherical shell and to slide on the inner wall, a circuit board I is fixedly connected with the upper part of the carrier, a battery is fixedly connected with the lower part of the carrier, a wireless charging port is electrically connected with the battery, a motor I and a motor II are respectively and fixedly connected with the lower part of the carrier, the motor I and the motor II are respectively connected with a steering wheel I and a steering wheel II through a connecting device, the steering wheel I and the steering wheel II are respectively and slidably connected with the inner wall of the spherical shell, the motor I, the motor II and the steering wheel;
the upper hemisphere and the lower hemisphere form a vibration motor unit, and the vibration motor unit and the mass center universal motion unit form a touch ball body.
2. A combined centroid deflection and vibration force feedback direction guidance system as claimed in claim 1 wherein: the second motor and the fourth motor are respectively arranged at the positive position and the negative position of the X axis, and the long sides of the second motor and the fourth motor are parallel to the Y axis; the third motor and the fifth motor are respectively arranged at the positive position and the negative position of the Y axis, and the long sides of the third motor and the fifth motor are parallel to the Z axis; the six motors are placed on the negative position of the Z axis, the long edges of the six motors are parallel to the X axis, the first motors are placed on the positive position of the Z axis, and the long edges of the first motors are parallel to the X axis.
3. A combined centroid deflection and vibration force feedback direction guidance system as claimed in claim 1 wherein: the first circuit board is provided with a first controller, a nine-axis sensor and a second wireless communication module.
4. A combined centroid deflection and vibration force feedback direction guidance system as claimed in claim 1 wherein: the contact point of the sphere and the inner wall of the spherical shell is positioned at the radial corresponding position of the midpoint of the connecting line of the first steering wheel and the second steering wheel with the contact point of the inner wall.
5. A combined centroid deflection and vibration force feedback direction guidance system as claimed in claim 1 wherein: the second circuit board comprises a second controller, a first power amplifier, a second power amplifier and a third power amplifier.
6. A method of controlling a combined centroid deflection and vibration force feedback direction guidance system as recited in claim 1 comprising:
a control method for presenting a rotary touch sensation, comprising the steps of:
1) initialization
When the system is not powered, the mass center is positioned at any position; when power is supplied, the nine-axis sensor obtains an included angle theta between a connecting line of the mass center G and the geometric center O of the spherical shell and the gravity direction by measuring the earth magnetic field0；
The nine-axis sensor outputs position information when the mass center is located at any position and transmits the position information to the first controller, the first controller receives the position information and calculates the rotating motion parameters to generate universal motion information 0, and the first motor and the second motor are enabled to rotate at an angular speed omega0Rotating in the same direction and judging whether the rotation angle of the mass center universal motion driving module reaches theta0(ii) a If not, continuing to move; if so, stopping the motion of the first motor and the second motor, and ending the process; the process enables the mass center universal motion driving module to rotate to the gravity direction along the inner wall of the spherical shell of the mass center universal motion unit, and the motion time is
Figure FDA0003038539310000021
t0The time length is less than the time domain value t, so that the rotating feeling of a user is not caused; angular velocity omega0Is a system default value;
2) calculating parameters required for rotational movement
Torque in any direction in three-dimensional space
Figure FDA0003038539310000022
The component in the XY plane being
Figure FDA0003038539310000023
In the Z-axis component of
Figure FDA0003038539310000024
Figure FDA0003038539310000025
The included angle between the Z axis and the Z axis is theta2，
Figure FDA0003038539310000026
The included angle between the Y axis and the Y axis on the XY plane is theta1Controller a pair of torques
Figure FDA0003038539310000027
Carrying out stress analysis and calculating the parameter theta required by translation clue1，θ2；
3) Rotate to
Figure FDA0003038539310000028
Direction
a) From an initial position to
Figure FDA0003038539310000029
Direction
The connecting line of the geometric center O and the mass center G of the spherical shell of the mass center universal motion unit is vertically downward, the position at the moment is set as an initial position, and at the initial position, the first motor and the second motor respectively rotate at an angular speed omega1The first steering wheel and the second steering wheel rotate reversely by a rotation angle theta by taking the middle point of a connecting line of the first steering wheel and the second steering wheel as a rotation center1To
Figure FDA00030385393100000210
Direction, t1For the time of turning the first and second steering wheels, wherein the angle of rotation theta1Less than or equal to 90 degrees, omega1Is a system default value;
t1＝θ1/ω1
the method comprises the steps that a host computer end sends scene updating information, a wireless communication module II of a mass center universal motion unit receives the scene updating information and then transmits the scene updating information to a controller I, a nine-axis sensor outputs mass center initial position information and transmits the mass center initial position information to the controller I, the controller I receives the initial position information and the scene updating information, the controller I generates universal motion driving information 1 to enable a motor I and a motor II to drive the motor I and the motor II at an angular speed omega1Reversely rotates and judges whether the rotation angle of the mass center universal motion driving module reaches theta1If not, continuing to move; if the time reaches, the first motor and the second motor stop moving, and the process is finished, wherein the reverse movement time of the first steering wheel and the second steering wheel is t1，t1The time length is less than the time domain value t, so that the rotating feeling of a user is not caused;
b) from
Figure FDA0003038539310000031
Rotate to
Figure FDA0003038539310000032
Direction
After step a), the first and second motors are driven at an angular velocity ω2Rotating in the same direction to make the first and second steering wheels rotate at the same angular speed omega2The same direction movement, namely the mass center universal movement driving module takes the geometric center O of the spherical shell of the mass center universal movement unit as the rotation center and the angular speed is omega2Movement, angle of rotation theta2Wherein theta2Is composed of
Figure FDA0003038539310000033
Angle to the Z axis, t2For the time of rotation, omega, of the first and second steering wheels2Is a system default value;
t2＝θ2/ω2
the nine-axis sensor outputs the position information of the mass center to the first controller, the first controller receives the position information, and the first controller generates universal motion driving information2 making the first motor and the second motor at an angular velocity omega2Rotating in the same direction and judging whether the rotation angle of the mass center universal motion driving module reaches theta2If not, continuing to move; if the time reaches, the first motor and the second motor stop moving, and the process is finished, wherein the equidirectional movement time of the first steering wheel and the second steering wheel is t2，t2The time length is less than the time domain value t, so that the rotating feeling of a user is not caused;
4) presenting rotational haptics
After completion of step 3), determining
Figure FDA0003038539310000034
The direction is a rotating shaft, the mass center universal motion unit continuously rotates to present a rotating touch sense, and the first motor and the second motor respectively rotate at an angular speed omega3The reverse rotation enables the first steering wheel and the second steering wheel to rotate for a time t by taking the middle point of a connecting line of the first steering wheel and the second steering wheel as a rotating center3Wherein the angular velocity of the first steering wheel and the second steering wheel is omega3，t3Duration greater than time threshold t to cause user perceived rotation, ω3Measuring the optimal angular velocity of the haptic effect for the user to perceive the rotation through experiments;
Figure FDA0003038539310000035
wherein J is the rotational inertia of the mass center universal motion driving module, and the torque generated by the mass center universal motion module is measured through experiments
Figure FDA0003038539310000036
It has a size of
Figure FDA0003038539310000037
The user holds the touch ball body to sense the rotation of the internal object, and the rotation direction of the internal object is used as a rotation clue of the user;
the nine-axis sensor outputs the position information 3 of the mass center to the first controller, and the first controller receives the position information3, the controller generates universal motion driving information 4 to drive the first motor and the second motor to rotate at an angular speed omega3Reversely rotates and judges whether the rotating time of the first steering wheel and the second steering wheel reaches t3If not, continuing to move; if the current time reaches the preset time, stopping the motion of the first motor and the second motor, and ending the process;
(II) the control method for the vibration motor unit to present the translation clue comprises the following steps:
A) calculating parameters required by translation clues
For a user to hold a standard position of the haptic ball, but the haptic ball may be shifted from the standard position when a human body moves, a coordinate transformation is required, and the coordinate transformation method is as follows:
for two space coordinate systems O-XYZ and O '-X' Y 'Z' with arbitrary rotation transformation, the coordinate origins of the two space coordinate systems are coincided, and the coincidence of the coordinate axes corresponding to the two coordinate systems is realized by sequentially rotating around three coordinate axes of the two space coordinate systems;
the coordinate system O-XYZ is respectively rotated by alpha, beta and gamma counterclockwise around the self X axis, Y axis and Z axis in turn and then is superposed with the coordinate system O ' -X ' Y ' Z ', the description relationship of a certain point X, Y and Z in the space in the two coordinate systems is as follows, and the transformed coordinates X ', Y ' and Z ' are obtained;
if the coordinate system O-XYZ is rotated by alpha around the X axis of the coordinate system O '-X' Y 'Z' in a counterclockwise direction, the coordinate description of a point in space in the coordinate systems O-XYZ and O '-X' Y 'Z' has the following relationship:
Figure FDA0003038539310000041
if the coordinate system O-XYZ is rotated by β counterclockwise around its Y axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure FDA0003038539310000042
if the coordinate system O-XYZ is rotated by γ counterclockwise around its Z axis and then coincides with the coordinate system O '-X' Y 'Z', the corresponding coordinate relationship is as follows:
Figure FDA0003038539310000043
the coordinate system O-XYZ rotates around the X axis, the Y axis and the Z axis thereof in turn counterclockwise by alpha, beta and gamma respectively, and then the coordinate system O '-X' Y 'Z' coincides with the coordinate system O '-X' Y 'Z', and the corresponding coordinate relationship is as follows:
R＝Rx(α)Ry(β)Rz(γ)
Figure FDA0003038539310000051
Figure FDA0003038539310000052
if the resultant force is in the O-XYZ coordinate system
Figure FDA0003038539310000053
The coordinate is (F)x，Fy，Fz) Therefore, under the O '-X' Y 'Z' coordinate system
Figure FDA0003038539310000054
The coordinate is (F)x'，Fy'，Fz')，(Fx'，Fy'，Fz') and (F)x，Fy，Fz) The transformation relationship of (1) is as follows:
Figure FDA0003038539310000055
the nine-axis sensor sends the position information to the second controller, and the second controller calculates the parameter U required by the translational motionx'，Uy'，Uz' then sends the required parameters to power amplifier one, power amplifier two, power amplifier three, where Ux' isThe second controller applies the voltage to the first power amplifier
Figure FDA0003038539310000056
Uy' Voltage applied to the second power amplifier for the second controller
Figure FDA0003038539310000057
Uz' the voltage applied to the power amplifier three by the controller two,
Figure FDA0003038539310000058
Umaxis the maximum output voltage of the controller;
Ux'，Uy'，Uzconverting the power into I through a first power amplifier, a second power amplifier and a third power amplifierx'，Iy'，Iz'，
Figure FDA0003038539310000059
ImaxTo the maximum output current, IxThe input current of a first motor and a sixth motor; i isyThe input current of a second motor and the input current of a fourth motor are' input; i iszThe input current of a third motor and the input current of a fifth motor are' input;
B) motor vibration providing force feedback
The vibration amplitude and the vibration direction of the first motor and the sixth motor are the same and respectively provide force
Figure FDA00030385393100000510
Force of
Figure FDA00030385393100000511
Parallel to the X' axis; the vibration amplitude and the vibration direction of the second motor and the fourth motor are the same and respectively provide force
Figure FDA00030385393100000512
Force of
Figure FDA00030385393100000513
Parallel to the Y' axis direction; the vibration amplitudes and vibration directions of the third motor and the fifth motor are the same, and the third motor and the fifth motor respectively provide force
Figure FDA00030385393100000514
Force of
Figure FDA00030385393100000515
Parallel to the Z' -axis;
Figure FDA0003038539310000061
for any force vector in three-dimensional space
Figure FDA0003038539310000062
Component on the X' axis of magnitude equal to
Figure FDA0003038539310000063
And
Figure FDA0003038539310000064
the sum of (1);
Figure FDA0003038539310000065
for any force vector in three-dimensional space
Figure FDA0003038539310000066
Component on the Y' axis of magnitude equal to
Figure FDA0003038539310000067
And
Figure FDA0003038539310000068
the sum of (1);
Figure FDA0003038539310000069
for any force vector in three-dimensional space
Figure FDA00030385393100000610
Component in the Z' axis of magnitude equal to
Figure FDA00030385393100000611
And
Figure FDA00030385393100000612
the sum of (1);
Figure FDA00030385393100000613
Figure FDA00030385393100000614
Figure FDA00030385393100000615
Figure FDA00030385393100000616
C) presenting translational haptics
The tactile ball is in contact with the palm of the user, and the user feels the resultant force on the spherical shell
Figure FDA00030385393100000617
And will combine the force
Figure FDA00030385393100000618
The direction of (2) is a translation direction, and the vibration motor unit can generate a force in any direction in a three-dimensional space through vector synthesis of the force.
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