面向口腔临床操作的力觉交互装置控制系统设计与实现.docxVIP

第 19 卷第 5 期系统仿真学报?Vol. 19 No. 52007 年 3 月Journal of System SimulationMar., 2007面向口腔临床操作的力觉交互装置控制系统设计与实现曹永刚，张玉茹，王党校，李思桥（北京航空航天大学机器人研究所, 北京 100083）摘要：正向和反向驱动性能决定了力觉人机交互系统的逼真性。控制系统的设计如同机械装置设计一样，是正向和反向驱动性能一项重要的影响因素。作者论述了力觉交互装置的控制系统设计与实现方法，并有效的控制设备完成了虚拟墙和虚拟牙面探查实验。首先，针对该系统的驱动性能指标，分析确定了系统的控制结构和实施方案，着重讨论了电机和驱动器的匹配选型和驱动性能，提出了电机选型的两条依据；然后讨论了系统硬件驱动函数库的开发与实现；最后通过虚拟墙和牙面探查操作实验，验证了系统在约束空间和自由空间的驱动性能。关键词：力觉交互系统；牙科手术培训系统；控制系统；力矩控制中图分类号：TP.391.9文献标识码：A文章编号：1004-731X (2007) 05-1086-04Design and Implementation of Control System in Haptic Devicefor Dental Training SystemCAO Yong-gang, ZHANG Yu-ru, WANG Dang-xiao, LI Si-qiao(Robotics Institute, Beihang University, Beijing 100083, China)Abstract: The forward-drive and back-drive performance of a haptic device directly influence the fidelity of ahuman-machine interaction system. The design of control system is an important aspect in insuring these performances as thesame as the design of mechanical device. A control design approach was outlined which could control the haptic deviceeffectively in the experiments of virtual wall and virtual tooth probing simulation. Firstly, according to the systemrequirement, the control structure and implementation scheme was determined by careful analysis and comparing. Thematching and capability was focused between motor and amplifier. Some detailed specifications for selecting motor wereproposed. Secondly, the control software and device driver for windows were developed. Finally, the drive performance ofthis system was validated by the results of virtual wall experiment and virtual tooth probing.Key words: haptic interaction system; dental training system; control system; torque control引言1系统国家重点实验室[5]也对力反馈装置展开了研究。无论哪种驱动形式，目标都是要保证系统的驱动性能。力觉交互装置（又称触觉再现装置或力反馈设备）的功能是准确跟踪人手的三维运动并输出大小和方向都可控的三维反馈力。力觉交互装置，加之相对应的控制系统和应用系统的驱动性能，除了应在机构设计过程中考虑和研究[6]论的就是针对具体的系统驱动性能，控制系统的设计与实现。软件就构成了力觉交互系统。力觉交互系统的性能主要是指它在约束空间和自由空1控制系统设计间的驱动性能，表现在：在约束空间，装置末端按照指令稳定地保持特定大小的模拟力，从而使人产生与真实物理世界中的物体交互时的真实力觉感受；在自由空间，操作者操作装置末端运动灵活。目前国内外力觉交互系统的