CN204256478U - There is the master slave control device of force feedback - Google Patents
There is the master slave control device of force feedback Download PDFInfo
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- CN204256478U CN204256478U CN201420645824.XU CN201420645824U CN204256478U CN 204256478 U CN204256478 U CN 204256478U CN 201420645824 U CN201420645824 U CN 201420645824U CN 204256478 U CN204256478 U CN 204256478U
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Abstract
The utility model relates to a kind of master slave control device with force feedback, comprises the visual display unit, controller unit and the manual haptic apparatus that connect successively; Described visual display unit comprises interconnective virtual machine mechanical arm model and virtual environment model, the DA board sum counter board that described controller unit comprises master controller and is connected with master controller respectively, described manual haptic apparatus comprises direct current generator, motor driver, rotary handle and scrambler, described scrambler is arranged on direct current generator, and link with counter plate and connect, described rotary handle is connected with the motor shaft of direct current generator, and described DA board is connected with direct current generator by motor driver; Compared with prior art, the utility model has the advantages such as structure is simple, enforcement is convenient, experience sense is strong.
Description
Technical field
The utility model relates to a kind of power and feels and visual feedback technical field, especially relates to a kind of master slave control device with force feedback.
Background technology
In recent years, the virtual reality technology with force feedback obtains and develops fast.The two-dimentional human-computer interaction technology that this technology changed in the past only view-based access control model, the sense of hearing and utilized mouse-keyboard etc. traditional, for user provides a kind of human-computer interaction interface more pressing close to real life environment.
In military field, follow the tracks of and other audio-visual equipment by utilizing 3D model, force feedback, position, virtual reality technology can help soldier to simulate various battlefield surroundings, same military training project be can constantly repeat with low-down cost and minimum danger, low cost, the high efficiency vocational training completing army personnel realized.At medical domain, by setting up human organ model true to nature and Force feedback model, surgeon can carry out the operation technique training of repetition by the surgery simulation system of high fidelity, reach best medical training effect and effectively shorten cycle of training.
But the current retrievable force feedback equipment based on virtual reality commercially (the PHANTOM series force feedback switching equipment as SensAble company of the U.S.) is main is all general object and designing, and price is very expensive.In addition, the final control system of this kind equipment is completely enclosed, and can not meet the individual requirement of user to virtual reality force feedback system.What is more, this kind of force feedback interactive device has more degree of freedom, complicated control system and virtual reality function library, user needs to spend the plenty of time to learn the control method, dummy model method for building up etc. of this equipment, is difficult to meet user's designing requirement fast.
Utility model content
The purpose of this utility model be exactly provide to overcome defect that above-mentioned prior art exists a kind of structure simple, implement the master slave control device with force feedback convenient, experience sense is strong.
The purpose of this utility model can be achieved through the following technical solutions:
There is a master slave control device for force feedback, it is characterized in that, comprise the visual display unit, controller unit and the manual haptic apparatus that connect successively;
Described visual display unit comprises interconnective virtual machine mechanical arm model and virtual environment model, the DA board sum counter board that described controller unit comprises master controller and is connected with master controller respectively, described manual haptic apparatus comprises direct current generator, motor driver, rotary handle and scrambler, described scrambler is arranged on direct current generator, and link with counter plate and connect, described rotary handle is connected with the motor shaft of direct current generator, and described DA board is connected with direct current generator by motor driver.
Described virtual machine mechanical arm model is single-degree-of-freedom virtual machine mechanical arm model, can be the straight reciprocating motion of mechanical arm by the converting rotary motion of turning axle.
Described single-degree-of-freedom virtual machine mechanical arm model is right cylinder, and described virtual environment model is hollow circular cylinder, and this periphery has elasticity.
By master controller mobile virtual manipulator model, make virtual machine mechanical arm model and environmental model surface contact, described virtual machine mechanical arm model end and the surface touch position of environmental model are virtual machine mechanical arm model end reference position, and the feedback force transmitted by master controller judges whether virtual machine mechanical arm model end contacts with virtual environment model.
The end that the to-and-fro movement of mechanical arm can realize mechanical arm contacts with periphery and produces respective action power; Start the collision movement with virtual environment model by master controller operation virtual machine mechanical arm model, the end of virtual machine mechanical arm model moves to the mechanical arm tail end target location in virtual environment model from reference position.
DA board sum counter board in controller unit realizes sending drive current to direct current generator and carrying out acquisition function to the motor end encoder output bit amount of putting respectively, the core of haptic apparatus is a direct current generator, and virtual machine mechanical arm and virtual environment contact force are transformed into the force signals put on operator's staff by this direct current generator.
Compared with prior art, the utility model has the following advantages:
1) structure is simple: be compared to commercial commercially available virtual reality force feedback system, and it is simple that this system has structure, and force feedback system various piece easily obtains, the easy processing and manufacturing of device for force feedback.
2) implement convenient: native system structure is simple, and control system calculated amount is few, need not carry out effective experience that complicated multi-freedom robot kinematics and dynamics calculation can realize virtual reality technology.
3) experience sense is strong: the utility model can facilitate user to put into practice, and operator, by operating physical force feedback device, couples together with the change of the image in display, to the sensation on the spot in person that user is strong, significantly increases the experience sense of operator.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Embodiment
As shown in Figure 1, a kind of master slave control device with force feedback, comprises the visual display unit 1, controller unit 2 and the manual haptic apparatus 3 that connect successively;
Described visual display unit 1 comprises interconnective virtual machine mechanical arm model and virtual environment model, the DA board 21 sum counter board 22 that described controller unit 2 comprises master controller and is connected with master controller respectively, described manual haptic apparatus 3 comprises direct current generator 32, motor driver 34, rotary handle 31 and scrambler 33, described scrambler 33 is arranged on direct current generator 32, and be connected with counter board 22, described rotary handle 31 is connected with the motor shaft of direct current generator 32, described DA board 21 is connected with direct current generator 32 by motor driver 34,
Principle of work of the present utility model is as follows:
User is by rotating rotary handle 31, the motor shaft of direct current generator 32 is driven to rotate motion, and by scrambler 33 record, described master controller is by reading the pulse signal on counter board 22, determine the input displacement of the manual haptic apparatus of user operation, and calculate the displacement of virtual machine mechanical arm model sport;
Simultaneously, master controller is according to the contact displacement amount of virtual machine mechanical arm model and virtual environment model and the rigidity value that designs, calculate contact force size, and by DA board 21, force signals is changed into the magnitude of voltage flowing to motor driver 34, after motor driver 34 converts, driving current value flows to direct current generator 32 the most at last, realizes motor shaft and rotates, and driven rotary handle realizes and the reciprocal rotary motion of operator, operator is made to feel virtual acting force.
To realize the experiment of contact force feedback model foundation fast, the utility model is described.
1, virtual machine mechanical arm model and environmental model is built
In the present embodiment, single-degree-of-freedom virtual machine mechanical arm model is right cylinder, and cylindrical cross section diameter is 5mm, and length is 15mm.Virtual environment is diameter is 10mm, and length is the hollow circular cylinder of 5mm.Solid Modelling is adopted to build single-degree-of-freedom virtual machine mechanical arm and virtual environment model.
2, mechanical arm tail end reference position is determined
By moving single-degree-of-freedom virtual machine mechanical arm with the single-degree-of-freedom force feedback equipment of rotary handle, by conversion of motion, be the rectilinear motion of virtual machine mechanical arm by the converting rotary motion of rotary handle.The end of virtual machine mechanical arm is contacted with the surface of virtual environment, mechanical arm tail end now position is designated as reference position, judges whether mechanical arm tail end comes in contact with virtual environment by the Visual Observations Observations of operator and the feedback force signal of force feedback equipment transmission.
3, contact force feedback Building of Simulation Model
The rigidity value of virtual environment model is set to 0.6N/mm, and the haptic feedback power according to following formulae discovery is:
f
feedback＝(x
end-x
start)×k
stiffness
This embodiment adopts continuous print Position input signal, and the haptic feedback power that so operator obtains also is continuous print force signal.
4, the simple adjustable contact force experiment of environmental model rigidity
According to the expectation of different operating person to virtual environment rigidity, can pass through the rapid adjustment of the utility model control device realization to virtual environment rigidity value.
Claims (3)
1. there is a master slave control device for force feedback, it is characterized in that, comprise the visual display unit, controller unit and the manual haptic apparatus that connect successively;
Described visual display unit comprises interconnective virtual machine mechanical arm model and virtual environment model, the DA board sum counter board that described controller unit comprises master controller and is connected with master controller respectively, described manual haptic apparatus comprises direct current generator, motor driver, rotary handle and scrambler, described scrambler is arranged on direct current generator, and link with counter plate and connect, described rotary handle is connected with the motor shaft of direct current generator, and described DA board is connected with direct current generator by motor driver.
2. a kind of master slave control device with force feedback according to claim 1, is characterized in that, described virtual machine mechanical arm model is single-degree-of-freedom virtual machine mechanical arm model.
3. a kind of master slave control device with force feedback according to claim 2, is characterized in that, described single-degree-of-freedom virtual machine mechanical arm model is right cylinder, and described virtual environment model is hollow circular cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420645824.XU CN204256478U (en) | 2014-10-30 | 2014-10-30 | There is the master slave control device of force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420645824.XU CN204256478U (en) | 2014-10-30 | 2014-10-30 | There is the master slave control device of force feedback |
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| Publication Number | Publication Date |
|---|---|
| CN204256478U true CN204256478U (en) | 2015-04-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201420645824.XU Expired - Fee Related CN204256478U (en) | 2014-10-30 | 2014-10-30 | There is the master slave control device of force feedback |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808668A (en) * | 2015-04-28 | 2015-07-29 | 东南大学 | Force information-based method of allowing multiple mobile robots to cooperate to carry flat objects |
-
2014
- 2014-10-30 CN CN201420645824.XU patent/CN204256478U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808668A (en) * | 2015-04-28 | 2015-07-29 | 东南大学 | Force information-based method of allowing multiple mobile robots to cooperate to carry flat objects |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150408 Termination date: 20161030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |