Modeling and Analysis of Virtual Manipulator based on a 2-DOF Force-Reflection Joystick

• Main Authors: Dau-Yueh Wu, 吳道岳
• Other Authors: Kuu-Young Young
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/93486892666498750681

碩士 === 國立交通大學 === 電機與控制工程系 === 91 === Virtual Reality is a system which allows the user to interact with the virtual environment through multiple sensorial channels. Among these sensorial channels, the haptic interface possesses more ability to interact mutually with the virtual environment. It can not only accept the simulation information from the virtual environment but can also manipulate it. Therefore this system can be applied in stimulating various kinds of mechanical manipulators, achieving exercise operation or remote-controlled operation, and also provides advantages of safe and economical. Though the manipulating methods and feelings differ from each other for manipulators, we can construct those desired components arbitrarily by designing basic physical units. In this way, we have a very flexible manipulator stimulation system. In this thesis, we will first demonstrate all the formulas of various basic units. Next, we will discuss and analyze accuracy and stability of the simulation system and apply the simulation rules to 2-DOF force reflection joystick so as to realize the simulation control of various basic physical units. At last, with the combination of basic physical units, we will demonstrate a simulated example of a manipulator that is applied to a vehicle’s manual gearshift.