机器人Issue(2)：224-230,7.DOI:10.13973/j.cnki.robot.2015.0224
基于虚拟仿真的并联构型手控器动力学建模与力反馈控制
Dynamic Modeling and Force-feedback Control of Haptic Device with Parallel Structure Based on Virtual Simulation
摘要
Abstract
A dynamic modeling and control method is presented based on virtual simulation to achieve force-feedback operation of complicated haptic device with parallel structure. Firstly, the Maryland haptic device is analyzed and its mathe-matic model is established. And, a physical simulation model is built in SimMechanics environment, which can be amended and compensated directly according to the experimental environment and the calibration parameters. The driving results of the two models are contrasted, and the result shows that the revised simulation model has higher precision and can be used for dynamic control. Finally, a semi-physical simulation system is established according to control requirements, after designing the collision simulation module on the basis of the simulation model. And the experiment is accomplished about generating horizontal feedback force according to collision sign in operation process. The haptic device forces in the simulation and the experiment are consistent, which shows the feasibility and accuracy of the control method.关键词
手控器/并联机构/虚拟仿真/动力学模型/力反馈Key words
haptic device/parallel mechanism/virtual simulation/dynamic model/force feedback分类
信息技术与安全科学引用本文复制引用
郭盛,梁艺瀚,王志群,曲海波..基于虚拟仿真的并联构型手控器动力学建模与力反馈控制[J].机器人,2015,(2):224-230,7.基金项目
国家自然科学基金资助项目（51475035）；教育部新世纪优秀人才支持计划资助项目（NCET-12-0769）；中央高校基本科研业务费专项基金资助项目（2013JBM013）． （）
