Force feedback equipment handle posture measuring method based on inertia measuring device

Abstract

The invention provides a force feedback equipment handle posture measuring method based on an inertia measuring device. According to the method, firstly, due to the inertia characteristics of the inertia measuring device, any posture of a handle in the space can be obtained only through a single measuring device; secondly, a posture calibration algorithm and a posture interpolation algorithm are used so that the measured posture can meet the requirement of force sensing rendering for high-frequency high-precision posture information. Meanwhile, in the virtual reality simulation environment with force feedback, it is verified that the method can meet the requirement for force sensing interaction. The inertia measuring device is used for measuring the postures, the postures of three degreesof freedom of the tail end can be measured through just one device, and the requirement for mechanism simplification of the equipment handle can be met; the inertia measuring device is directly connected with the force feedback equipment handle and does not need to be connected with a rotary joint through a mechanism structure, the measured azimuth angle is only related to the space posture of thehandle and is irrelevant to the placement mode of a force feedback equipment mobile platform, and measurement is more precise.

Description

technical field [0001] The invention relates to a method for measuring the posture of a handle of a force feedback device, in particular to a method for measuring the posture of a handle of a force feedback device by using an inertial measurement device. Background technique [0002] The sense of touch is one of the basic senses of human beings. Through the sense of touch, we can perceive the external environment information such as the hardness, weight, cold and heat, dryness and wetness of objects. Through the cooperation of touch, vision, hearing and other senses, people's cognition efficiency of the external world will be significantly improved. At present, humans have realized the use of visual and auditory information to interact with computers and entered the world of multimedia and virtual reality. However, visual information and auditory information are difficult to express the depth, softness, hardness, and motion status of the operating object. If the tactile inf...

AI Technical Summary

Problems solved by technology

When measuring the spatial attitude of an object, the most prominent advantage of the inertial measurement device compared to the traditional mechanical tracking device is that it is simple to connect, but how to obtain the attitude information of the three degrees of freedom of the rotating part of the force feedback device still needs to be studied urgently

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