To Make a VR Robot Feel What a Real Robot Feels via Force Measurement

• Main Authors: Luo, Yan-Yang, 羅炎陽
• Other Authors: Kuu-Young Young
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/95931660984482024681

碩士 === 國立交通大學 === 控制工程系 === 85 === In this thesis, we intend to make a VR robot feel what a real robot feelsby using force measurement data. The generation of this "feel" function is part of the effort to develop a more realistic VR teleoperation system, so that force information can be incorporated to help the operator in deling with delicate and compliant motions. We first mount a JR3 force sensor on the Mitsubishi RV-M2 type robot manipulator. When the real manipulator collides with obstacles in the real environment, we record the force data and generate VR objects deformed in different levels according to these force data. Thus, we canhave the VR teleoperation system in which the VR manipulator can collide into the VR obstacle in the VR environment with a realistic deforming process. Due to the partial malfunction status of the force sensor, we need to perform sensor identification under special consideration. After sensor identification,we usedthree experiments to find out the distributions of force and moment on the sensor''s six axes and the effects of collision under different operating velocities. We then developed a VR simulation environment to emulate the VRobject deforming process by using data from the force sensor. The resultsdemonstrate the feasibility of the proposed "feeling" system, although problemsfor making a real-time, on-line system are still present.