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类型 基础研究 预答辩日期 2018-03-10
开始(开题)日期 2014-01-08 论文结束日期 2018-01-22
地点 中心楼315 论文选题来源 973、863项目     论文字数 6.6 (万字)
题目 面向遥操作的力反馈人机交互技术研究
主题词 遥操作,人机交互设备,位移测量,力触觉反馈,性能评估
摘要 随着人类探索领域的不断扩展,人类的探索活动的危险性和复杂性日益增加,出于对操作者安全的考虑,这些活动不仅需要引入遥操作机器人系统,并且对遥操作系统功能和性能的要求也越来越高。在遥操作系统的本地端系统中,人机交互设备作为操作人员与虚拟环境的媒介,需要将人的操作意图传递给虚拟环境或远地环境中的机器人,产生控制指令,同时也需要将虚拟环境或远地环境中机器人的反馈信息尽可能真实的反馈给操作人员,因此,人机交互设备的性能特性直接影响操作人员的操作体验,是否能真实的反馈信息以及是否能准确的传递操作人员的意图给虚拟环境或远地环境中的机器人决定了遥操作系统的安全性、稳定性以及可靠性。 本文针对遥操作领域的应用需求,开展对力反馈人机交互技术的研究,其中包括有力反馈与无力反馈输出两种设备的结构设计、运动分析以及力触觉人机交互系统的控制方法、性能评价等研究。 首先针对一些具有较强视觉反馈信息的遥操作主从系统,本文研制了穿戴式的“数据手臂”交互系统,该穿戴式交互系统能真实的跟踪操作人员手臂各个关节的运动,经过在线归一化处理以后,将运动信息发送给虚拟环境,生成控制指令,但是没有力反馈信息传递给操作者,因此操作人员只能根据视觉反馈信息完成任务。 针对现阶段虚拟视觉技术的局限性,特别是无力反馈信息的控制系统的安全性、可靠性得不到保证,只能完成一些简单任务或者纯虚拟环境下的预演任务的问题,本文设计了两种不同结构的力反馈手控器,包括其机械本体的设计,并分别对它们从几何学、静力学、动力学等方面进行建模分析,推导其位移测量的正解公式以及力反馈输出逆解公式,并设计了专用的位移标定平台,通过精密标定提高它们的位移跟踪精度。 由于上述两种手控器所采用的角度传感器以及力反馈输出源一致,均是光电编码器与空心杯直流电机,本文设计了针对这种结构的手控器驱动控制系统,特别是力反馈输出方面,本文提出了专门应用在力反馈输出时,直流电机的驱动电路以及控制方法,设计了标定直流电机扭矩常数的标定平台,用来提升手控器力反馈输出精度。 为了对手控器性能进行定量的评估,评价其有效性,便于多种设备之间的横向比较,本文结合遥操作应用领域,推导出力触觉交互设备的等效模型,并根据该等效模型,将整个力触觉人机交互系统分为有源系统跟无源系统两个部分,提出从多个方面测量力触觉交互设备参数的方法,这些参数可以用来评估一套力触觉人机交互设备在遥操作系统中的表现。
英文题目 RESEARCH ON HUMAN-COMPUTER INTERACTION TECHNOLOGY WITH FORCE FEEDBACK FOR TELEOPERATION
英文主题词 teleoperation, human-computer interaction device, displacement tracking, force-tactile feedback, performance evaluation
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.
学术讨论
主办单位时间地点报告人报告主题
仪器科学与工程学院 2012.10 中心楼324 钱夔 小型移动侦察机器人的感知与认知技术研究
“远程测控技术”江苏省重点实验室 2012.12 中心楼302 朱澄澄 触觉输入输出设备与虚拟现实
仪器科学与工程学院 2016.11 南京市中山宾馆 倪得晶 Point Cloud Augmented Virtual Reality Based Robot Teleoperation
“远程测控技术”江苏省重点实验室 2013.6 中心楼304 吴常铖 智能假手的研究进展
“远程测控技术”江苏省重点实验室 2014.3 中心楼324 朱澄澄 手控器力反馈的实现
仪器科学与工程学院 2014.3 群贤楼报告厅 王楠 随机共振在信号检测中的应用
仪器科学与工程学院 2014.5 群贤楼报告厅 朱澄澄 多自由度力反馈手控器设计
“远程测控技术”江苏省重点实验室 2014.6 中心楼324 王楠 有色噪声影响下的逻辑随机共振情况
仪器科学院工程学院 2015.12 中心楼324 朱澄澄 遥操作人机交互技术发展
     
学术会议
会议名称时间地点本人报告本人报告题目
日内瓦国际发明展会 2012.4.17 瑞士·日内瓦 Force Feedback Hand Controller with 7 Degrees of Freedom for Teleoperation and Virtual Environment Applications
日内瓦国际发明展会 2013.4.13 瑞士·日内瓦 6-Axis Force-Torque Sensor for Space Manipulator
     
代表作
论文名称
Design of a 3-DOF Parallel Hand-Controller
Position calibration of a 3-DOF hand-controller with hybrid structure
 
答辩委员会组成信息
姓名职称导师类别工作单位是否主席备注
唐慧强 正高 教授 博导 南京信息工程大学
徐贵力 正高 教授 博导 南京航空航天大学
陈熙源 正高 教授 博导 东南大学
宋光明 正高 教授 博导 东南大学
吴镇扬 正高 教授 博导 东南大学
      
答辩秘书信息
姓名职称工作单位备注
徐宝国 副高 副教授 东南大学