具有位置/力混合控制的虚拟装配模型

目前在虚拟环境的应用领域研究主要集中在视觉的逼真性方面,而力觉在交互过程中有着不可替代的作用.采用位置/力混合控制的方法,通过具有力反馈的数据手套在虚拟约束空间中装配虚拟物体可获得触觉效果,使操纵者感受到操纵的细腻过程,如同操纵者直接与物体相接触一样,达到了虚拟装配过程的临场感目的.结果表明,采用力控制技术可使零件的设计质量、装配速度得到显著提高. 

Virtual Assembly Model with Mixed Control of Position/Force

At present, the study in the field of virtual environment application focuses mainly on the reality of optical, and during the interaction the force is very important. Therefore, the paper adopts the method of mixed control of position/force in the assembly. Then the effect of touch can be acquired through assembling the virtual objects with the force feedback data-glove in the virtual constraint space. The manipulator can feel the minute process of operating, which like the direct touch between the operator and the object. So, the purpose of "being there" is reached during the assembly. As is shown in the experiment, adopting the technique of force control can remarkably improve the design quality and assembly speed of parts.