CN110175409A - Gravity feedback compensation method - Google Patents
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Abstract
The present invention relates to the technical fields of virtual reality, disclose gravity feedback compensation method, comprising the following steps: are equipped with world coordinate system { O } in the central point of fixed platform, are equipped with moving coordinate system { O ' } in the central point of floating platform；When parallel institution reaches gravitational equilibrium state, floating platform reaches force balance state, carries out force analysis to floating platform；Calculate the torque generated on joint by the resultant force of power and the power being assigned on driving lever in lever；It calculates motor and is applied to the torque on active joint；Calculate the input current of motor.Gravity feedback compensation method in the present invention is using the stress on each rod piece in Newton―Leibniz formula analysis force feedback equipment mechanism and the torque on each joint, to establish relationship of the force feedback equipment under any position in space and posture between equipment self-weight and motor torque, force feedback equipment is set to reach the state of dynamic equilibrium, to improve the transparency of force feedback equipment.
Description
Technical field
The present invention relates to the technical field of virtual technology more particularly to gravity feedback compensation methodes.
Background technique
Virtual reality (VR) technology is a kind of by a series of input-output equipment constructed mould in a computer
Intend the virtual environment of reality, user can be roamed in virtual environment by input equipment and with the object in virtual environment
It interacts；And the five senses such as the touching of the audiovisual in virtual environment can be fed back to user by output equipment, and user is made to reach one
Kind immersion experience on the spot in person.
Power/haptic interaction is based on a kind of unique interactive mode with two-way communication channel of human body, therefore power is anti-
Feedback equipment is a kind of important interactive tool in Virtual Reality Force/haptic interaction.Outstanding force feedback equipment must have high saturating
The features such as lightness, high rigidity, high control bandwidth, low inertia, low friction, wherein transparency is interacted with reality environment
When, user is to perceptibility existing for force feedback equipment.In virtual reality interactive process, the more force feedback equipment of high transparency more can
User is enough allowed to be difficult to feel that the presence of force feedback equipment, experience on the spot in person are better.Influencing force feedback equipment transparency
Factor in, principal element derives from the self weight of equipment, and therefore, carrying out gravity compensation to force feedback equipment is to improve it thoroughly
The key method of lightness.
In the prior art, common gravitational compensation method has passive gravity compensation and active gravity compensation.Passive gravity
Compensation offsets the torque that equipment self-weight generates on joint by using energy storage devices such as clump weight, springs.Active gravity is mended
Repay makes equipment reach equilibrium state by motor output opposing torque with balancing equipment from the torque generated on joint is focused on.
In passive gravitational compensation method, equipment self-weight can be mitigated to operation in the method that clump weight carrys out balancing equipment self weight
The influence of person, but equipment inertia is increased, the dynamic property of equipment is reduced, and the weight of clump weight is constant, it is impossible to
Complete gravity compensation is realized to the force feedback in any pose.And the method for spring-compensating gravity, its advantage is that spring-mass
It is light, substantially not on will increase the weight and inertia of force feedback equipment, to influence the operating characteristics of force feedback equipment.But bullet
In the several method of spring gravity compensation, all have some disadvantages.One kind that the patent of the patent No. 201610015837.2 proposes
The optimal spring gravity compensation method of force feedback equipment, design gravity compensation machinery only with simple spring, but no matter bullet
How spring installation site, spring free length, spring rate optimize, in practical projects, be all replaced with Hookean spring it is non-thread
Property spring, therefore in any position of force feedback equipment working space can not all realize complete gravity compensation, and spring is very
It is easy to generate interference with force feedback equipment mechanism, further limits the working space of force feedback equipment.The patent No.
201610028353.1 patent proposes a kind of zero drift spring gravity compensation method based on force feedback equipment, in addition to
Be added spring outside, additionally use fixed pulley and wirerope, spring and fixed pulley installation on the stationary platform, wirerope one end and
Spring connection, the other end are connect after bypassing wirerope with force feedback equipment deceleration mechanism driven wheel.This method eliminates spring
With the interference of force feedback equipment mechanism, but in practical projects, since the fixation position length of fixed pulley radius and pulley can not
It can be zero, so the theoretic gravity compensation that can fully achieve still can generate compensation deviation in practical projects.The patent No.
201711049846.4 patent proposes a kind of cam tension spring mechanism of mechanical arm gravity compensation, pacifies at mechanical arm tail end joint end
Disc cam is filled, wirerope one end is fixed on disc cam edge, and the other end is connect with tension spring, and realization process is cam driven
Camber of spring converts bullet for the gravitional force of mechanical arm to which with the movement of mechanism, corresponding change occurs for spring tension
Spring potential energy, this method can be realized large range of complete gravity compensation.But when force feedback equipment is in quick movement, connection is convex
The wirerope of wheel and spring will not be always held at same plane, this has resulted in spring and wirerope generates drawing gap, draw
Enter delay volume, is easy to cause spring and wirerope to slide, can also reduce the stability of force feedback system.
In Active Compensation, existing force feedback equipment often based on the angle of the conservation of energy, is established using the method for virtual displacement
Gravity compensation model, but the compensation torque value of this method calculating certain positions in the space of parallel institution (Delta mechanism)
It is easy to produce mutation in setting, gravity compensation is caused to fail.
Summary of the invention
The purpose of the present invention is to provide gravity feedback compensation method, it is intended to solve virtual reality device in the prior art
Gravity compensation failure, the problem for causing force feedback equipment transparency low are easy to appear in force feedback.
The invention is realized in this way providing gravity feedback compensation method, it is used for parallel institution, the parallel institution to include
Fixed platform, three groups of branches and floating platform, each branch include driving lever and by lever group；
Described includes four connecting rods of parallelogram shape by lever group, is turning joint at each endpoint, one short
Side and one end of the driving lever are hinged, and another short side and the floating platform are hinged；One end of the driving lever is articulated with
The fixed platform；The gravity feedback compensation method the following steps are included:
It is equipped with world coordinate system { O } in the central point of the fixed platform, is equipped with mobile sit in the central point of floating platform
Mark system { O ' }；When the parallel institution reaches gravitational equilibrium state, floating platform reaches force balance state, to floating platform into
Row force analysis；Calculate the power that the power by lever generates on joint with the resultant force of power being assigned on the driving lever
Square；It calculates motor and is applied to the torque on active joint；Calculate the input current of the motor.
Further, the X-axis level of the world coordinate system { O } to the left, Y direction straight up, the vertical institute of Z-direction
It states fixed platform and is directed toward the floating platform direction；To the left, Y ' axis direction is vertical for the X ' axis level of the moving coordinate system { O ' }
Upwards, vertically the floating platform is outside for Z ' axis direction；The line of the fixed platform central point and the driving lever hinge joint
Angle with X-axis is respectively ηi(i=1,2,3)；The active pole length is La, weight G1, where straight line and level side
To angle be θi(i=1,2,3)；The length of the driving lever is Lb, weight G2, the weight of the floating platform is G3；Institute
The hinge joint for stating driving lever and the fixed platform is Ai(i=1,2,3) is C with the hinge joint by leveri(i=1,2,
3), the hinge joint by lever and the floating platform is Bi(i=1,2,3)；It is described to be distributed by the 1/2 of lever weight to institute
State floating platform, 1/2 distribution to one end of the driving lever；When carrying out force analysis to floating platform, by lever to its work
Firmly positive direction is defined as BiCiDirection；The floating platform reaches force balance state and establishes equation group:
A1f1+A2f2+A3f3=0
It enables
C1f1+C2f2+C3f3=0
Solving equations can obtain:Wherein fi(i=1,2,3) is rod piece
Power size on i, direction indicate B along the straight line where rod piece, positive numberiCiDirection, negative number representation CiBiDirection passes through point Bi,
CiCoordinate, vector can be acquiredEach force vector by lever then can be obtained
Further, the resultant force of power of the power by lever with distribution on the driving lever isThe resultant force
There is an angle with the plane where the driving lever, and with joint effortsOnly in plane OAiCiOn component just can to actively
Joint generates moment loading；If plane OAiCiUnit normal vector beThenWhereinFor plane OAiCiMethod
Vector,With joint effortsIn plane OAiCiThe component in method direction is powerWith unit normal vector
Dot product, i.e.,Resultant force known to thenIn plane OAiCiOn component beThe torque that generates on active joint of the power by lever is known to then
Further, the gravity of the driving leverIn plane OAiCiThe component in method direction beThe then gravity of the driving leverIn plane OAiCiInterior component isThe gravity of the driving lever known to thenIt is generated on active joint and torque isIts midpoint PiFor the position (i=1,2,3) where the driving lever center of gravity.
Further, motor is asked to be applied to the torque on active joint.Torque equilibrium equation is established in active joint,It wherein is applied to the torque on active joint for motor, then can be acquired
Further, according to torqueIn conjunction with the torque constant τ of the motor, corresponding motor can be acquired in order to balance
The current value size that equipment self-weight should input
Compared with prior art, the gravity feedback compensation method in the present invention is set using Newton―Leibniz formula analysis force feedback
The torque in stress and each joint in standby host structure on each rod piece, so that it is any in space to establish force feedback equipment
Under position and posture, the relationship between equipment self-weight and motor torque, by motor output specified current flow to obtain specified torque,
To which online balancing equipment in real time makes force feedback equipment reach the state of dynamic equilibrium from the torque generated on joint is focused on,
To improve the transparency of force feedback equipment.
Detailed description of the invention
Fig. 1 is the model schematic of parallel institution in the embodiment of the present invention
Fig. 2 is the angle schematic diagram of the X-axis of branch and fixed coordinate system { O } in the embodiment of the present invention；
Fig. 3 is branch in the embodiment of the present invention by lever group parallelogram mechanism rough schematic view.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The realization of the present embodiment is described in detail below in conjunction with specific attached drawing.
As shown in Figure 1 to Figure 3, the force feedback that one kind is provided in the present embodiment for parallel institution (Delta mechanism) is set
The method of standby active gravity compensation.This method is using the stress on each rod piece in Newton―Leibniz formula analysis force feedback equipment mechanism
And the torque on each joint, so that force feedback equipment is established in space under any position and posture, equipment self-weight
Relationship between motor torque exports specified current flow by motor to obtain specified torque, so that online balance in real time is set
For from the torque generated on joint is focused on, force feedback equipment is set to reach the state of dynamic equilibrium, to improve the saturating of force feedback equipment
Lightness.
It is as shown in Figure 1 the force feedback equipment model schematic of parallel institution (Delta mechanism), Delta machine as shown in the figure
Structure is the model of horizontal arrangement, i.e. floating platform moves in the front space of fixed platform, and the configuration in other orientation is such as perpendicular
Histogram to.In Delta mechanism force feedback equipment model, pass through three between the fixed platform and floating platform of Delta mechanism
Completely the same branch chain link, each branch have driving lever and pass through rotation by lever, driving lever one end and fixed platform
Hinge connection, the other end are connect by turning joint with by lever, are a parallelogram mechanism, the parallelogram by lever
Four vertex are turning joint, are connect by rotation link with floating platform by the lever other end.In the central point of fixed platform
Equipped with world coordinate system { O }, X-axis level to the left, straight up, be directed toward to float and put down Y direction by the vertical fixed platform of Z-direction
Platform direction.Floating platform central point be equipped with moving coordinate system { O ' }, X ' axis level to the left, Y ' axis direction straight up,
Z ' axis direction vertical float platform is outside.As shown in Fig. 2, the line and X-axis of fixed platform central point and driving lever hinge joint
Angle is respectively ηi(i=1,2,3).The angle of straight line and horizontal direction where driving lever is θi(i=1,2,3).Driving lever
Length is La, weight G1, it is L by the length of leverb, weight G2, the weight of floating platform is G3, driving lever and fixed platform
Hinge joint be Ai(i=1,2,3), driving lever with by the hinge joint of lever be Ci(i=1,2,3), by lever and floating platform
Hinge joint is Bi(i=1,2,3).By lever weightFloating platform is assigned to,It is assigned to one end of driving lever；To floating
When platform carries out force analysis, B is defined as by active force positive direction of the lever to itiCiDirection；It is passive to be illustrated in figure 3 branch
Bar parallelogram mechanism rough schematic view, since branch is parallelogram by lever, whenever all mutually two groups of sides
It in parallel, therefore, can be assuming that in parallelogram B 'iB″iC″iC′iThe midpoint of two short sides is connected with a bar BiCi, the bar
Length it is equal with the long side length of parallelogram, weight is the weight of entire parallelogram, and center of gravity is just flat
The center of gravity of row quadrangle.
Firstly, according to spatial model coordinate system,
Force analysis is carried out to floating platform.Floating platform reaches gravitational equilibrium by gravity and three active forces by lever, in mechanism
When state, floating platform reaches force balance state.The stress balance equation in three directions can be established:
The stress balance equation of X-direction:
The stress balance equation of Y-direction:
The stress balance equation in direction:
In conjunction with three above equation, equation group can be established:
A1f1+A2f2+A3f3=0
C1f1+C2f2+C3f3=0, it enables
Solving equations can obtain:Wherein fi(i=1,2,3) is rod piece
Power size on i, direction indicate B along the straight line where rod piece, positive numberiCiDirection, negative number representation CiBiDirection.Utilize point Bi,
CiCoordinate, vector can be acquired It is each passive then to can be obtained
Force vector on bar
Seek the torque that the resultant force by power and the power being assigned on driving lever in lever generates on active joint.By lever
On power with the resultant force of the power on driving lever be with distributionAs this with joint efforts with driving lever where plane have a folder
Angle, and resultant forceOnly in plane OAiCiOn component just can to active joint generate moment loading.If plane OAiCiList
Position normal vector beThenWhereinFor plane OAiCiNormal vector,It is sat according to model
Mark,With joint effortsIn plane OAiCiThe component in method direction
It is powerWith unit normal vectorDot product, i.e.,Resultant force known to thenIn plane OAiCi
On component beIt is by the torque that the power in lever generates on active joint known to then
The torque for asking the gravity of driving lever to generate on active joint.The gravity of driving leverIn plane OAiCiMethod side
To component beThe then gravity of driving leverIn plane OAiCiInterior component isThe gravity of driving lever known to thenIt is generated on active joint and torque isIts midpoint PiFor the position (i=1,2,3) where driving lever center of gravity；
Motor is asked to be applied to the torque on active joint.Torque equilibrium equation is established in active joint,It wherein is applied to the torque on active joint for motor, then can be acquired
Seek the input current of motor.According to the aforementioned torque acquiredIn conjunction with the torque constant τ of motor, can acquire pair
The current value size for answering motor that should input for balancing equipment self weight
Compared with the Active Compensation in the past using passive gravity compensation or using virtual displacement, the present embodiment uses newton-Europe
The method that daraf(reciprocal of farad) carries out active gravity compensation can compensate to real-time online force feedback equipment in its space in any
When position and posture, the torque that equipment self-weight is generated in equipment joint increases the transparency of force feedback equipment.With passive weight
Force compensating is compared, and method proposed by the present invention only needs motor to provide additional torque to compensate gravity, is not needed additional
Mechanism and component, therefore not will cause the mechanical interference generated between newly-increased component and existing component, it is used not will increase equipment
Amount；Compared with using the active compensation method of virtual displacement, the mutation of space inner part position gravity compensation torque not will cause
And compensation is caused to be failed.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (6)
1. gravity feedback compensation method is used for parallel institution, which is characterized in that the parallel institution includes fixed platform, three groups
Branch and floating platform, each branch include driving lever and by lever group；
Described includes four connecting rods of parallelogram shape by lever group, is turning joint at each endpoint, a short side with
One end of the driving lever is hinged, and another short side and the floating platform are hinged
One end of the driving lever is articulated with the fixed platform；
The gravity feedback compensation method the following steps are included:
It is equipped with world coordinate system { O } in the central point of the fixed platform, is equipped with moving coordinate system in the central point of floating platform
{O′}；
When the parallel institution reaches gravitational equilibrium state, floating platform reaches force balance state, to floating platform carry out by
Power analysis；
Calculate the torque that the power by lever generates on joint with the resultant force of power being assigned on the driving lever；
It calculates motor and is applied to the torque on active joint；
Calculate the input current of the motor.
2. gravity feedback compensation method as described in claim 1, which is characterized in that the X-axis of the world coordinate system { O } is horizontal
To the left, straight up, vertically the fixed platform is directed toward the floating platform direction to Z-direction to Y direction；
X ' axis the level of the moving coordinate system { O ' } to the left, straight up, put down Y ' axis direction by vertical described float of Z ' axis direction
Platform is outside；
The angle of the line and X-axis of the fixed platform central point and the driving lever hinge joint is respectively ηi(i=1,2,3)；
The active pole length is La, weight G1, where straight line and the angle of horizontal direction be θi(i=1,2,3)；
The length by lever is Lb, weight G2, the weight of the floating platform is G3；
The driving lever and the hinge joint of the fixed platform are Ai(i=1,2,3) is C with the hinge joint by leveri(i
=1,2,3), the hinge joint by lever and the floating platform is Bi(i=1,2,3)；
1/2 distribution by lever weight to the floating platform, 1/2 is distributed to one end of the driving lever；
When carrying out force analysis to floating platform, B is defined as by active force positive direction of the lever to itiCiDirection；
The floating platform reaches force balance state and establishes equation group:
A1f1+A2f2+A3f3=0
It enables
C1f1+C2f2+C3f3=0
Solving equations can obtain:Wherein fi(i=1,2,3) is on rod piece i
Power size, direction indicate B along the straight line where rod piece, positive numberiCiDirection, negative number representation CiBiDirection passes through point Bi, CiSeat
Mark, can acquire vectorEach force vector by lever then can be obtained
3. gravity feedback compensation method as claimed in claim 2, which is characterized in that the power by lever and distribution are in institute
The resultant force for stating the power on driving lever isThis has an angle with the plane where the driving lever with joint efforts, and with joint efforts
Only in plane OAiCiOn component just can to active joint generate moment loading；
If plane OAiCiUnit normal vector beThenWhereinFor plane OAiCiNormal vector,
With joint effortsIn plane OAiCiThe component in method direction is powerWith unit normal vectorDot product, i.e.,Resultant force known to thenIn plane OAiCiOn component beThen
Known to the torque that is generated on active joint of the power by lever be
4. gravity feedback compensation method as claimed in claim 3, which is characterized in that the gravity of the driving leverIn plane
OAiCiThe component in method direction beThe then gravity of the driving leverIn plane OAiCiInterior component isThe gravity of the driving lever known to thenIt is generated on active joint and torque isIts midpoint PiFor the position (i=1,2,3) where the driving lever center of gravity.
5. gravity feedback compensation method as claimed in claim 4, which is characterized in that motor is asked to be applied to the power on active joint
Square.Torque equilibrium equation is established in active joint,It is wherein applied to for motor and actively closes
Torque on section can then acquire
6. gravity feedback compensation method as claimed in claim 5, which is characterized in that according to torqueIn conjunction with the motor
Torque constant τ can acquire the current value size that corresponding motor should input for balancing equipment self weight
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| CN111216129B (en) * | 2020-01-07 | 2023-03-21 | 华南理工大学 | Active-passive combined series-parallel force feedback equipment gravity compensation method |
| CN113043279A (en) * | 2021-04-15 | 2021-06-29 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| CN113081290A (en) * | 2021-04-15 | 2021-07-09 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| CN113081290B (en) * | 2021-04-15 | 2022-06-24 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| CN113043279B (en) * | 2021-04-15 | 2022-08-02 | 诺创智能医疗科技(杭州)有限公司 | Control method, controller, system, electronic device and medium for surgical robot |
| WO2023169306A1 (en) * | 2022-03-07 | 2023-09-14 | 诺创智能医疗科技(杭州)有限公司 | Driving force acquisition method and apparatus for main manipulator, and storage medium |
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