基于力反馈器的质点压力物理建模及其仿真
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摘要
长期以来,人们对虚拟现实技术的研究和应用主要集中在视觉和听觉模拟上。近年来,随着计算机科学和机器人技术的不断发展与进步,虚拟现实技术中的力觉交互技术逐渐成为新的国内外研究热点,得到了前所未有的重视。许多发达国家在这方面开展了大量研究,目前国外已出现商品化的力觉交互设备。相比之下,目前国内对虚拟现实技术的研究与应用都尚处于起步阶段,尤其是在力觉交互技术方面与国外有着相当大的差距。
本文首先介绍了虚拟现实技术中力觉交互技术的概念以及国内外研究现状,探讨了目前在领域内实现人机力觉交互的方法和原理。提出了本文的主要研究内容:建立一套具有力反馈交互的虚拟操作面板,利用该面板可以操纵航天器的点火,发射以及复位,该系统的关键问题是改进点到面的碰撞检测速度问题和解决力反馈数学建模问题。
为了保持视景画面的逼真性和实时性,需要基于本系统对碰撞检测算法进行优化与改进。本文在分析AABB算法和OBB算法的基础上,对AABB算法进行了改进,测试结果证明改进的算法的速度得到了提高。
在力反馈物理建模方面,首先运用冲量定理和弹性恢复系数,求得质点刚体在二维空间碰撞后的运动状态,然后结合库仑定理,生成质点刚体有摩擦的碰撞力,并拓展到三维空间的虚拟环境中,计算非质点的虚拟刚体碰撞的力矩,再通过虚拟手静力抓持力觉生成模型,将碰撞力和碰撞力矩作用到虚拟质点上,求得质点受到的冲击力.再加上场力、阻尼力和惯性力,通过力反馈器将冲击传给用户实现力反馈.使用该方法成功解决了本系统力反馈数学建模的问题,并通过与Popescu等人改进了的弹簧线性模型算法的比较,证明该方法的有效性。
Traditionally, the research and applications of VR are limited in the field of graphical and audio displays. However, with the developments of computer science and robotic technology, the haptic interaction art comes into the focus of VR field across the world recently. Many institutions of developed countries have explored this area and even developed some commercial products. In contrast, the domestic state-of-art technology in VR, especially in haptic interaction, has a considerable gap compared to the developed states.
In this thesis, above all, the concept and applications of haptic interaction in VR are introduced; the domestic and overseas state-of-art is described; the various methods and philosophies enabling the haptic display at present are discussed. The main research content of this thesis about the steerable virtual panel (SVP), the operator can ignite, launch and reset air vehicle with SVP. The key points of this thesis include: improving the velocity of collision detection from point to faceplate and considerable mathematic modeling for a particle in haptic interaction.
Fast and exact collision detection is very important to improve reality and enhance immersion for virtual environment. In order to keep in step with visual scene and operation, the collision detection arithmetic needed to be improved and optimized. Based on the analysis the characteristics of AABB(Axis-Aligned Bounding Boxes) and OBB (Oriented Bounding Box)algorithm, AABB is optimized and the test proves that the velocity of optimized arithmetic has improved.
A method of collision force generation and feedback with friction for virtual particle interaction in virtual environments is proposed. Based on impulse theorem and coefficient of elastic recovery, the motion rules for virtual objects after collision in 2-Division space are deduced. By Coulomb's friction model, this paper describes the generation of collision force in planar space which is explored to 3D virtual space, and collision force and collision moment in virtual environment are achieved. The means of collision force acting on hand is discussed, and impulsive force with field force, damp force and inertia force for particle is calculated by virtual particle optimized models with minimum force spiral. Experimental results show that using the collision force generation and feedback method, the user can sense realistic impulsive forces via the SensAble Phantom Haptic Device caused by virtual collision. This method succeeds in solving the problem of haptic modeling in this system.
本文首先介绍了虚拟现实技术中力觉交互技术的概念以及国内外研究现状,探讨了目前在领域内实现人机力觉交互的方法和原理。提出了本文的主要研究内容:建立一套具有力反馈交互的虚拟操作面板,利用该面板可以操纵航天器的点火,发射以及复位,该系统的关键问题是改进点到面的碰撞检测速度问题和解决力反馈数学建模问题。
为了保持视景画面的逼真性和实时性,需要基于本系统对碰撞检测算法进行优化与改进。本文在分析AABB算法和OBB算法的基础上,对AABB算法进行了改进,测试结果证明改进的算法的速度得到了提高。
在力反馈物理建模方面,首先运用冲量定理和弹性恢复系数,求得质点刚体在二维空间碰撞后的运动状态,然后结合库仑定理,生成质点刚体有摩擦的碰撞力,并拓展到三维空间的虚拟环境中,计算非质点的虚拟刚体碰撞的力矩,再通过虚拟手静力抓持力觉生成模型,将碰撞力和碰撞力矩作用到虚拟质点上,求得质点受到的冲击力.再加上场力、阻尼力和惯性力,通过力反馈器将冲击传给用户实现力反馈.使用该方法成功解决了本系统力反馈数学建模的问题,并通过与Popescu等人改进了的弹簧线性模型算法的比较,证明该方法的有效性。
Traditionally, the research and applications of VR are limited in the field of graphical and audio displays. However, with the developments of computer science and robotic technology, the haptic interaction art comes into the focus of VR field across the world recently. Many institutions of developed countries have explored this area and even developed some commercial products. In contrast, the domestic state-of-art technology in VR, especially in haptic interaction, has a considerable gap compared to the developed states.
In this thesis, above all, the concept and applications of haptic interaction in VR are introduced; the domestic and overseas state-of-art is described; the various methods and philosophies enabling the haptic display at present are discussed. The main research content of this thesis about the steerable virtual panel (SVP), the operator can ignite, launch and reset air vehicle with SVP. The key points of this thesis include: improving the velocity of collision detection from point to faceplate and considerable mathematic modeling for a particle in haptic interaction.
Fast and exact collision detection is very important to improve reality and enhance immersion for virtual environment. In order to keep in step with visual scene and operation, the collision detection arithmetic needed to be improved and optimized. Based on the analysis the characteristics of AABB(Axis-Aligned Bounding Boxes) and OBB (Oriented Bounding Box)algorithm, AABB is optimized and the test proves that the velocity of optimized arithmetic has improved.
A method of collision force generation and feedback with friction for virtual particle interaction in virtual environments is proposed. Based on impulse theorem and coefficient of elastic recovery, the motion rules for virtual objects after collision in 2-Division space are deduced. By Coulomb's friction model, this paper describes the generation of collision force in planar space which is explored to 3D virtual space, and collision force and collision moment in virtual environment are achieved. The means of collision force acting on hand is discussed, and impulsive force with field force, damp force and inertia force for particle is calculated by virtual particle optimized models with minimum force spiral. Experimental results show that using the collision force generation and feedback method, the user can sense realistic impulsive forces via the SensAble Phantom Haptic Device caused by virtual collision. This method succeeds in solving the problem of haptic modeling in this system.
引文
[1]魏迎梅.虚拟现实技术(第二版)[M].北京:电子工业出版社.2005.1-43
[2]Cai Yiyu,Chui C,Ye xiuZi,et al.VR simulated training for less invasive vaseular intervention[J].Computers&Graphies,2003,27(2):215-21
[3]Jayaram S,Connacher H I,Lyons K W Virtual assembly using virtual reality techniques[J].Computer-Aided Design,1997,29(8):575-584
[4]TrikaSN,Banerjee P,Kashyap R L Virtual Reality interfaces for feature-based computer-aided design systems[J].ComPuter-Aided Design,1997,29(8):565- 574
[5]Nobuto M P.ToPosal of a new medical manipulator for laparoscopic surgery [J].Advanced Robotics,2001,15(3):379-382
[6]薛光涛,施华,尤晋元.远程机器人控制系统的实时性能评估[J].计算机工程,2004,30(16):99-101
[7]鲍春波,王博亮等、一种支持触觉反馈的膜组织变形仿真方法[J]、系统仿真学报、第19卷第15期、2007年、3463-3467
[8]Bussell L A,谢康宁,王京.在基于英特网的学习中使用触觉接口[J],第四军医大学学报,2002,1(1):224.
[9]董士海,陈敏,罗军.多通道用户界面的模型、方法及实例[J].北京大学学报,1998,12(增刊1):326.
[10]运红丽,张占哲等、力/力矩反馈装置的结构类型及评价指标[J]、水利电力机械 第29卷第5期、2007年、85-88
[11]李国杰 硕士论文 基于虚拟现实技术的力觉交互设备的研究与构建,上海:上海交通大学2008
[12]孙中圣,王祖温等、力反馈数据手套单关节研究[J]、液压与气动、第7期、2006年14-18
[13]王强如 李兰友.C语言绘图与计算机仿真技术[M].北京航空航天大学出版社.1995.12:143-148.
[14]方美琪 张树人.复杂系统建模与仿真[M].中国人民大学出版社.2005.10:1-3.
[15]杨文珍,高曙明,万华根,朱振华,骆阳.基于物理的虚拟手抓持力觉生成和反馈[J].计算机学报,2005,28(6):959-964
[16]顾银芳,苑士华,李纬.仿真技术的发展与展望[M].河北工业科技.2000,(5):36-39.
[17]吴重光.过程系统仿真技术[M].北京:中国石化出版社.1998.
[18]Baraff D.Fast contact force computation for non-penetrating rigid bodies [C].Co-mputer Graphics Proceedings,Annual Conference Series,SIGGRAPH94,1994
[19]D.C.RusPini,K.Kolarov.Khatib.The haptic display of complex graphical environments[C].Proceedings of the 24th annual conference on Computer graphics and interactive techniques,1997:345-352.
[20]T.H.Massie,J.K.Salisbury.The PHANTOM Haptic Interface:A Device for Probing Virtual Objects[C].ASME Haptic Interfaces forVirtual Environment and Teleoperator Systems 1994,In Dynamic Systems and Control,Chicago,1994:295-301
[21]GB.Popeseu,V.M.Bouzit.Virtual Reality Simulation Modeling for a Haptic Glove.In Computer Animation,99Conferenee,Switzerland,1999:195-200.
[22]P.B.Cristian Luciano,S.Mehrotra et al.A Framework for Efficient and More Reallistic Haptic Application[C].Proceedings of 23~(rd) ASME International 2003 CIE,2003:1-6
[23]H.Maekawa,J.M.Hollerbach.Haptic Display for Object Grasping and Manipulating in Virtual Environment[C].International Conference on Robotics and Automation,IEEE,1998:
[24]W.S.Harvin,N.Melder.Improved Rendering for multi-finger manipulation using friction cone based god-objects[C].Proceeding of the Eurohaptics Conference,2003:82-85.
[25]M.Anderson,S,Sarni,0.Buchwalder,R.Boulic,T.Daniel.Multi-Finger Haptic Rendering of Deformable Objects[C].Eurographics Symposium on Virtual Enviroments,2004.
[26]Salcudean S.,Vlaar T..On the emulation of stiff walls and static friction with a magnetically levitated input/output device[C]ASME J Dyn Meas Contr,1997,119:127-132
[27]Constantinescu D.,Salcudean S.E.,Croft E.A..Haptic rendering of rigid contact s using impulsive and penalty forces[C].IEEE Transactions on Robotics,2005,21(3):309-323
[28]Moore M.,Wilhelms J.Collision detection and response for computer animat -ion.[C]In:Proceedings of t he Computer Graphics,Atlanta,1988,289-298
[29]Baraff D..Analytical met holds for dynamic simulation of non-penetrating rigid bodies[C].In:Proceedings of the Computer Graphics,Boston,1989,23(3):223-232.
[30]Baraff D..Fast contact force computation for non-penetrating rigid bodies[C].In:Proceedings of the Computer Graphics,S Orlando,1994,23-34
[31]宋爱国,吴涓,李建清一种基于物理意义的快速力反馈形变模型及实时力觉响应算法.传感技术学报,2005,18:90-94
[32]胡小强 虚拟现实技术 北京:北京邮电大学出版社2005:74-77
[33]洪炳镕 蔡则苏 唐好选 虚拟显示技术及其应用 北京:国防工业出版社2005:25-28
[34]姜国华 虚拟现实技术及其在航天航空中的应用 北京:国防工业出版社2007:129-132
[35]王志强.碰撞检测问题研究综述[J].软件学报,2002,10(5):545-551
[36]陈学文,丑武胜,刘静华,等.基于包围盒的碰撞检测算法研究[J].计算机工程与应用,2005(5):46-50
[37]M.C.Lin,Efficient Collision Detection for Animation and Robotics.PHD thesis,Department of Electrical Engineering and Computer Science,University of North California,Berkeley,December 1993
[38]M.Lin,D.Manoeha,J.Cohen andS.Gottschalk.Collision Detection:Algorithms and Applications.Algorithms for Robotics Motion and Manipulation,1996:P129-142
[39]Kelvin Chung.An Effieient Collision Detection Algorithms for Polytopes in Virtual Environments.M.Phil Thesis,Department of Computer Science,University of HongKong,September 1996
[40]K Chung and W.Wang.Quick Elimination of Non-Interference polytoes in Virtual Environments.3~(rd) European Workshop on Virtual Environments.1996:19-20
[41]K.Chung and W.Wang.Quick Collision Detection of Polytopes in Virtual Environments.ACM Symposium on Virtual Reality Software and Technology.2006:1-4
[42]G.vandet Bergen.Solid Software Library for Interference Detection.1999,Available at http://www.win.tue.nl/es/tt/gino/solidz
[43]Salcudean S.,Vlaar T..On the emulation of stiff walls and static friction with a magnetically levitated input/ output device.ASME J Dyn Meas Contr,2005,119:127-132
[44]Constantinescu D.,Salcudean S.E.,Croft E.A..Haptic rendering of rigid contacts using impulsive and penalty forces.IEEE Transactions on Robotics,2005,21(3):309-323
[45]陈德林,张伟,林亨,虚拟质点力反馈模型研究及其实现装置研制 机械设计与制造2004.10,5:60-62
[2]Cai Yiyu,Chui C,Ye xiuZi,et al.VR simulated training for less invasive vaseular intervention[J].Computers&Graphies,2003,27(2):215-21
[3]Jayaram S,Connacher H I,Lyons K W Virtual assembly using virtual reality techniques[J].Computer-Aided Design,1997,29(8):575-584
[4]TrikaSN,Banerjee P,Kashyap R L Virtual Reality interfaces for feature-based computer-aided design systems[J].ComPuter-Aided Design,1997,29(8):565- 574
[5]Nobuto M P.ToPosal of a new medical manipulator for laparoscopic surgery [J].Advanced Robotics,2001,15(3):379-382
[6]薛光涛,施华,尤晋元.远程机器人控制系统的实时性能评估[J].计算机工程,2004,30(16):99-101
[7]鲍春波,王博亮等、一种支持触觉反馈的膜组织变形仿真方法[J]、系统仿真学报、第19卷第15期、2007年、3463-3467
[8]Bussell L A,谢康宁,王京.在基于英特网的学习中使用触觉接口[J],第四军医大学学报,2002,1(1):224.
[9]董士海,陈敏,罗军.多通道用户界面的模型、方法及实例[J].北京大学学报,1998,12(增刊1):326.
[10]运红丽,张占哲等、力/力矩反馈装置的结构类型及评价指标[J]、水利电力机械 第29卷第5期、2007年、85-88
[11]李国杰 硕士论文 基于虚拟现实技术的力觉交互设备的研究与构建,上海:上海交通大学2008
[12]孙中圣,王祖温等、力反馈数据手套单关节研究[J]、液压与气动、第7期、2006年14-18
[13]王强如 李兰友.C语言绘图与计算机仿真技术[M].北京航空航天大学出版社.1995.12:143-148.
[14]方美琪 张树人.复杂系统建模与仿真[M].中国人民大学出版社.2005.10:1-3.
[15]杨文珍,高曙明,万华根,朱振华,骆阳.基于物理的虚拟手抓持力觉生成和反馈[J].计算机学报,2005,28(6):959-964
[16]顾银芳,苑士华,李纬.仿真技术的发展与展望[M].河北工业科技.2000,(5):36-39.
[17]吴重光.过程系统仿真技术[M].北京:中国石化出版社.1998.
[18]Baraff D.Fast contact force computation for non-penetrating rigid bodies [C].Co-mputer Graphics Proceedings,Annual Conference Series,SIGGRAPH94,1994
[19]D.C.RusPini,K.Kolarov.Khatib.The haptic display of complex graphical environments[C].Proceedings of the 24th annual conference on Computer graphics and interactive techniques,1997:345-352.
[20]T.H.Massie,J.K.Salisbury.The PHANTOM Haptic Interface:A Device for Probing Virtual Objects[C].ASME Haptic Interfaces forVirtual Environment and Teleoperator Systems 1994,In Dynamic Systems and Control,Chicago,1994:295-301
[21]GB.Popeseu,V.M.Bouzit.Virtual Reality Simulation Modeling for a Haptic Glove.In Computer Animation,99Conferenee,Switzerland,1999:195-200.
[22]P.B.Cristian Luciano,S.Mehrotra et al.A Framework for Efficient and More Reallistic Haptic Application[C].Proceedings of 23~(rd) ASME International 2003 CIE,2003:1-6
[23]H.Maekawa,J.M.Hollerbach.Haptic Display for Object Grasping and Manipulating in Virtual Environment[C].International Conference on Robotics and Automation,IEEE,1998:
[24]W.S.Harvin,N.Melder.Improved Rendering for multi-finger manipulation using friction cone based god-objects[C].Proceeding of the Eurohaptics Conference,2003:82-85.
[25]M.Anderson,S,Sarni,0.Buchwalder,R.Boulic,T.Daniel.Multi-Finger Haptic Rendering of Deformable Objects[C].Eurographics Symposium on Virtual Enviroments,2004.
[26]Salcudean S.,Vlaar T..On the emulation of stiff walls and static friction with a magnetically levitated input/output device[C]ASME J Dyn Meas Contr,1997,119:127-132
[27]Constantinescu D.,Salcudean S.E.,Croft E.A..Haptic rendering of rigid contact s using impulsive and penalty forces[C].IEEE Transactions on Robotics,2005,21(3):309-323
[28]Moore M.,Wilhelms J.Collision detection and response for computer animat -ion.[C]In:Proceedings of t he Computer Graphics,Atlanta,1988,289-298
[29]Baraff D..Analytical met holds for dynamic simulation of non-penetrating rigid bodies[C].In:Proceedings of the Computer Graphics,Boston,1989,23(3):223-232.
[30]Baraff D..Fast contact force computation for non-penetrating rigid bodies[C].In:Proceedings of the Computer Graphics,S Orlando,1994,23-34
[31]宋爱国,吴涓,李建清一种基于物理意义的快速力反馈形变模型及实时力觉响应算法.传感技术学报,2005,18:90-94
[32]胡小强 虚拟现实技术 北京:北京邮电大学出版社2005:74-77
[33]洪炳镕 蔡则苏 唐好选 虚拟显示技术及其应用 北京:国防工业出版社2005:25-28
[34]姜国华 虚拟现实技术及其在航天航空中的应用 北京:国防工业出版社2007:129-132
[35]王志强.碰撞检测问题研究综述[J].软件学报,2002,10(5):545-551
[36]陈学文,丑武胜,刘静华,等.基于包围盒的碰撞检测算法研究[J].计算机工程与应用,2005(5):46-50
[37]M.C.Lin,Efficient Collision Detection for Animation and Robotics.PHD thesis,Department of Electrical Engineering and Computer Science,University of North California,Berkeley,December 1993
[38]M.Lin,D.Manoeha,J.Cohen andS.Gottschalk.Collision Detection:Algorithms and Applications.Algorithms for Robotics Motion and Manipulation,1996:P129-142
[39]Kelvin Chung.An Effieient Collision Detection Algorithms for Polytopes in Virtual Environments.M.Phil Thesis,Department of Computer Science,University of HongKong,September 1996
[40]K Chung and W.Wang.Quick Elimination of Non-Interference polytoes in Virtual Environments.3~(rd) European Workshop on Virtual Environments.1996:19-20
[41]K.Chung and W.Wang.Quick Collision Detection of Polytopes in Virtual Environments.ACM Symposium on Virtual Reality Software and Technology.2006:1-4
[42]G.vandet Bergen.Solid Software Library for Interference Detection.1999,Available at http://www.win.tue.nl/es/tt/gino/solidz
[43]Salcudean S.,Vlaar T..On the emulation of stiff walls and static friction with a magnetically levitated input/ output device.ASME J Dyn Meas Contr,2005,119:127-132
[44]Constantinescu D.,Salcudean S.E.,Croft E.A..Haptic rendering of rigid contacts using impulsive and penalty forces.IEEE Transactions on Robotics,2005,21(3):309-323
[45]陈德林,张伟,林亨,虚拟质点力反馈模型研究及其实现装置研制 机械设计与制造2004.10,5:60-62