| Summary: | 碩士 === 大同大學 === 機械工程研究所 === 90 === Main goal of virtual reality is make the interaction between operator and haptic device. Operator can real-time control haptic device accomp- lishing complicated jobs via operator’s wisdom and the human-machine interface.
This paper is focusing on research in human-machine interface. Human-machine interface is composed of devices of the sense of touch and vision, and the system is composed of user interface, dynamic simulation and haptic device control scheme. In the structure of the user interface, there is virtual environment and visual equipment, operator operates virtual tools in virtual environment via haptic device. We use 2-DOF direct-drive robot and TTUP3D-I robot to look on as haptic device in experiments, let two haptic devices simulate tennis players in a contest. In the process of simulation, operator can feel the force response as virtual tools contact and interact with virtual objects in the virtual environment, and see the changes of environment via real-time display on monitor.
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