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Gravity Feedback Compensation Method

A feedback compensation and gravity technology, applied in the field of virtual technology, can solve the problems of gravity compensation failure and low transparency of force feedback equipment, and achieve the effect of improving transparency

Active Publication Date: 2022-01-25
SHENZHEN PRECISE TESTING TECH
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] The purpose of the present invention is to provide a gravity feedback compensation method, aiming to solve the problem that the force feedback of the virtual reality device in the prior art is prone to failure of gravity compensation, resulting in low transparency of the force feedback device

Method used

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] The implementation of this embodiment will be described in detail below in conjunction with specific drawings.

[0026] like Figure 1 to Figure 3 As shown, this embodiment provides a method for active gravity compensation of a force feedback device for a parallel mechanism (Delta mechanism). This method uses the Newton-Euler method to analyze the force on each rod and the moment on each joint in the force feedback device mechanism, and thus establishes the relationship between the self-weight of the force feedback device and the motor torque at any position and posture in the motion space....

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Abstract

The present invention relates to the technical field of virtual reality, and discloses a gravity feedback compensation method, including the following steps: a world coordinate system {O} is set at the center point of the fixed platform, and a mobile coordinate system {O′} is set at the center point of the floating platform ; When the parallel mechanism reaches the gravity balance state, the floating platform reaches the force balance state, and the force analysis is carried out on the floating platform; calculate the force on the passive rod and the force distributed to the active rod on the joint The moment generated by the resultant force; calculate the motor Torque applied to the active joint; calculates the input current to the motor. The gravity feedback compensation method in the present invention adopts the Newton-Euler method to analyze the force on each rod and the torque on each joint in the force feedback device mechanism, thereby establishing the force feedback device under any position and posture in the motion space The relationship between the self-weight and the torque of the motor makes the force feedback device reach a state of dynamic balance, so as to improve the transparency of the force feedback device.

Description

technical field [0001] The invention relates to the technical field of virtual technology, in particular to a gravity feedback compensation method. Background technique [0002] Virtual reality (VR) technology is a virtual environment that simulates reality constructed in a computer through a series of input and output devices. Users can roam in the virtual environment and interact with objects in the virtual environment through the input devices; The output device can feed back the five senses such as audio-visual and touch in the virtual environment to the user, so that the user can achieve an immersive experience. [0003] Force / tactile interaction is the only interaction method based on the human body that has a two-way information exchange channel, so force feedback devices are an important interaction tool in virtual reality force / tactile interaction. An excellent force feedback device must have the characteristics of high transparency, high stiffness, high control ba...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F119/14
CPCG06F2119/06G06F30/20
Inventor 吴书传许辉勇章兴石白钢印
Owner SHENZHEN PRECISE TESTING TECH
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