| 英文摘要 |
As human exploration continues to expand, the dangers and complexities of human exploration are increasing. For operators’ safety reasons, these activities require not only the introduction of a teleoperated robot system but also the functionality and performance of the teleoperation system The requirements are getting higher and higher. In the local part of the teleoperation system, the human-computer interaction device, as a medium between the operator and the virtual environment, not only needs to transfer the human operation intention to the virtual environment or the real robot in distance and generate the control instruction, but also needs to feedback the information generated by the real robot or the robot in the virtual environment as real as possible to the operator. Therefore, the performance characteristics of human-computer interaction device directly affect the operator’s operating experience. Whether the information can be truly feedback and the operator’s intentions can be accurately delivered to the virtual environment determines the safety, stability, and reliability of the teleoperation system.
In this thesis, the research on human-computer interaction equipment sarts at the requirement of the application of the teleoperation field, including the structural design of two devices with the function of force replay and one device without force replay function. Motion analysis, force-tactile outputting control and performance evaluation of a human-computer interaction system are researched.
First of all, for some teleoperation master-slave system with strong visual feedback information, a wearable "data arm" interactive system that can truly track the movement of the operator’s arm joints are developed. After the normalization processing, the motion information is sent to the robot in the virtual environment to generate the control instruction. However, there is no force feedback information to the operator. The operator can only accomplish the task according to the visual information.
In view of the present limitations of virtual visual technology, especially the security and reliability of the teleoperating system cannot be guaranteed without the force-tactile information. Only some simple tasks or purely virtual tasks can be accomplished. In this thesis, we designed two kinds of hand-controllers with force feedback with different structures. It includes the design of the mechanical structure, analyzing of their geometry, statics, dynamics and so on. The modeling of the hand-controllers are carried out. The displacement positive solution formula and the force feedback inverse solution formula are derived. Special displacement calibration platforms are designed to improve their displacement tracking accuracy.
As the above two kinds of hand-controllers’ angle sensors and force feedback output sources are the same, which are optical encoder and hollow cup DC motor, the control systems with same structure are designed in this article. In terms of the force feedback output, special driving circuit and control method of DC motor are presented in this article particularly, which is specially applied in the force feedback output. The calibration platform for calibrating the torque constant of DC motor is designed to improve the output accuracy of hand-controllers’ force feedback.
In order to evaluate the performance effectiveness of the hand-controllers quantitatively, facilitate the horizontal comparison among multiple devices, an equivalent model of force-tactile interaction device is derived based on the field of teleoperating application. According to the equivalent model, the entire force-tactile human-computer interaction system is divided into two parts: active system and passive system. The methods of measuring force-tactile interaction devices’ parameters are proposed from several aspects. These parameters can be used to evaluate a set of force-tactile human-computer interaction system’s performance. At last, a contrast test was conducted. Through the different feelings of different people when using the force feedback hand controller, the effectiveness of the force feedback hand controller was verified. At the same time, it was also concluded that the effectiveness and operation of the teleoperation system are related to their own sensitivity and proficiency.
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