Realization of Haptic Feedback Bilateral Control in Virtual Reality

• Main Authors: Sung-YuLee, 李松育
• Other Authors: Mi-Ching Tsai
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/z47j4g

碩士 === 國立成功大學 === 機械工程學系 === 107 === Human-computer interaction system provides user an interface to interact with machines, but virtual reality device focus on position following rather than haptic feedback. Due to lack of real force feedback in virtual reality system, this research proposed a haptic feedback control structure which can provide real force feedback and position following. By integrating torque observer, impedance control and synchronous motion control, a bilateral control structure is proposed in this research. The position and torque ratio between the master and slave in bilateral control system can be adjusted by applying scaling factor which can increase the design freedom. Also, bilateral control can be extended into multilateral control to increase the control freedom. Two motors and a virtual load are integrated to form a trilateral virtual reality integration system. Two operators can interact with the motors simultaneously, thus collaboration and teaching are realized using haptic feedback.