多维操控器力觉感知机理与动态位姿耦合信号实时解耦方法研究

项目名称： 多维操控器力觉感知机理与动态位姿耦合信号实时解耦方法研究

项目编号： No.61303006

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 张彦斐

作者单位： 山东理工大学

项目金额： 23万元

中文摘要： 多维操控器是虚拟现实技术中重要的交互设备，在机器人遥操作、三维设计等领域有着广阔应用前景。本项目采用具有冗余传感的宏动并联机构作为多维操控器力感机构，研究力觉感知的实现方法和空间动态位姿耦合信号实时捕获与解耦机理。通过基本单元运动螺旋的叠加，获得操控器输出运动螺旋的精确数学表达，结合集合论的思想探索操控器拓扑综合规律，解决三至六维不同维数的多维操控器力感机构选型问题。通过协调曲线法建立位姿集任务空间与动态参数、多维耦合反馈力与关节驱动力之间的逆向映射模型，创新性引入冗余传感解决并联机构位置正解解算的难题，采用多目标粒子群优化方法研究冗余传感器及驱动电动机的分配策略，揭示冗余传感对多维动态耦合信号解算速度的影响规律，以及通过独立驱动力实现耦合反馈力的解耦机理。最终形成一套适用于三维至六维通用操控器设计方法和理论，为其在虚拟现实等3D相关领域的普及应用奠定理论基础。

中文关键词： 多维控制器；位姿信号；解耦；力觉感知；冗余

英文摘要： Multi-dimensional controller is an important interactive device of virtual reality technology. It has broad prospects of application fields of robot remote manipulation and three dimension design etc. This project adopts macro-motion parallel mechanism with redundant sensors for force perception of multi-dimensional controller. It studies the force perception method and the real time capturing and decoupling mechanism of dynamic coupled pose signals in space. By adding motion screw of the basic unit, it is possible to accurately obtain the output motion screw mathematic expressions of multi-dimensional controller. It also investigates the topology synthesis rules according to set theory. It aims to solve main body selection problem of multi-dimensional controller with three to six dimensional controller. By method of coordination curves, the inverse mapping models of task pose set to dynamic parameters and multi-dimensional coupled feedback forces to joint actuation forces are both established. Redundant sensors are adopted creatively to solve the forward kinematics problem of parallel mechanism. The allocation strategy for redundant sensors and driving motors is researched by multiple objectives swarm optimization method. It reveals the influence regularity of redundant sensor for calculation speed of multi-dim

英文关键词： multi-dimensional controller；pose signal；decouple；force sensing；redundancy