技术领域technical field
本发明涉及自动控制领域，特别是涉及一种单控制手柄宏动六维控制器。The invention relates to the field of automatic control, in particular to a macro-motion six-dimensional controller with a single control handle.
背景技术Background technique
随着工业生产的工况越来越复杂以至于简单的编程很难完成机械动作；或者工作条件不利于人类身体健康，例如在核辐射特别强的地区工作，此时需要控制器对机器人进行远程控制以完成机器人的动作。As the working conditions of industrial production become more and more complex, it is difficult to complete mechanical actions with simple programming; or the working conditions are not conducive to human health, such as working in areas with particularly strong nuclear radiation, at this time, the controller needs to remotely control the robot. Control to complete the robot's actions.
生活中最典型的位移控制器是鼠标，鼠标控制电脑屏幕的小箭头在屏幕内实现二维移动，鼠标是最典型的二维控制器，但随着当今科技的日益发展，工业自动化领域对于多维控制器的需要越来越多，但由于六维控制器功能复杂，目前在国内六维控制器的种类并不多，六维控制器的研究是目前自动控制领域的主要研究问题之一。The most typical displacement controller in life is the mouse. The mouse controls the small arrow on the computer screen to move in two dimensions on the screen. The mouse is the most typical two-dimensional controller. There are more and more needs for controllers, but due to the complex functions of six-dimensional controllers, there are not many types of six-dimensional controllers in China at present. The research on six-dimensional controllers is one of the main research issues in the field of automatic control.
申请号200820227632.1公开了一种单控制手柄六维控制器，该控制器通过六组应变片组成全桥电路，六组应变片测量动平台所受的力的大小，通过六组电信号解耦后控制信号源，实现六维运动。但是该控制器是通过检测手柄所受的力的大小去控制被控物体，动平台并没有进行宏观的运动，被控物体的运动与动平台的运动并没有直接的联系，不直观，在一些需要精确控制的场合不利于控制被控物体。Application number 200820227632.1 discloses a six-dimensional controller with a single control handle. The controller forms a full-bridge circuit through six sets of strain gauges. The six sets of strain gauges measure the force on the moving platform. After decoupling through six sets of electrical signals Control the signal source to realize six-dimensional movement. However, the controller controls the controlled object by detecting the force on the handle. The moving platform does not perform macroscopic movement. The movement of the controlled object is not directly related to the movement of the moving platform, which is not intuitive. In some Occasions that require precise control are not conducive to controlling the controlled object.
发明内容Contents of the invention
为解决上述问题，本发明拟解决的技术问题是，提供一种单控制手柄宏动六维控制器。该控制器可以对某现实物体或者某虚拟物体进行六维位移控制，实现宏动，使被控物体的位移与动平台的位移直接相关，更容易被控制。In order to solve the above-mentioned problems, the technical problem to be solved by the present invention is to provide a single control handle macro motion six-dimensional controller. The controller can control the six-dimensional displacement of a real object or a virtual object to realize macro motion, so that the displacement of the controlled object is directly related to the displacement of the moving platform, making it easier to be controlled.
本发明解决所述技术问题采用的技术方案是：提供一种单控制手柄宏动六维控制器，其特征在于该控制器包括六个阻尼器、六个角度测量元件、静平台、三条结构尺寸相同的运动支链、信号采集处理模块、动平台、手柄和存储介质，所述三条结构尺寸相同的运动支链均匀分布在静平台和动平台之间，六个阻尼器和六个角度测量元件成对的分布于三条运动支链的最下端的转动副上；所述动平台的上部安装手柄，角度测量元件通过导线与信号采集处理模块的输入端连接，信号采集处理模块的输出端采用RS485通讯协议与存储介质连接；所述存储介质内加载有运动学正解算法，存储介质与被控物体连接；The technical solution adopted by the present invention to solve the above-mentioned technical problems is to provide a single control handle macro motion six-dimensional controller, which is characterized in that the controller includes six dampers, six angle measuring elements, a static platform, and three structural dimensions The same motion branch chain, signal acquisition and processing module, moving platform, handle and storage medium, the three motion branch chains with the same structural size are evenly distributed between the static platform and the moving platform, six dampers and six angle measuring elements Pairs are distributed on the lowermost rotating pair of the three motion branch chains; the upper part of the moving platform is equipped with a handle, and the angle measuring element is connected to the input end of the signal acquisition and processing module through a wire, and the output end of the signal acquisition and processing module adopts RS485 The communication protocol is connected to the storage medium; the storage medium is loaded with a kinematics positive solution algorithm, and the storage medium is connected to the controlled object;
所述每条运动支链均包括一个五转动副平面运动链(41)、上连杆(43)、上虎克铰(44) 和下虎克铰(42)，五转动副平面运动链(41)的上端连接下虎克铰(42)，下端连接静平台，上虎克铰(44)和下虎克铰(42)之间通过上连杆(43)连接；Described each kinematic branch chain all comprises a five rotating pair planar kinematic chain (41), upper connecting rod (43), upper Hooke hinge (44) and lower Hooke hinge (42), five rotating pair planar kinematic chain ( The upper end of 41) is connected to the lower Hooke hinge (42), the lower end is connected to the static platform, and the upper Hooke hinge (44) and the lower Hooke hinge (42) are connected by an upper link (43);
五转动副平面运动链(41)是由四个下连杆(411、412、413和414)以及静平台3构成的平面五边形及五个转动副(415、416、417、418和419)构成，其中，静平台作为机架，两个下连杆(411、414)为位于下部的两个连架杆，两个下连杆(412、413)为位于中间的两个连杆，五个转动副(415、416、417、418和419)的轴线相互平行，并均垂直于四个下连杆(411、412、413和414)所在的平面，两个下连杆(411、414)转动作为该运动支链的驱动，两个转动副(415、419)为运动支链的最下层的运动副，每个最下层的运动副上均通过一根长轴安装有一个角度测量元件和一个阻尼器，两个转动副(415、419)通过轴承座与静平台相连接；在两个下连杆(412、413)的铰接处安装下虎克铰，下虎克铰通过上连杆 (43)与上虎克铰(44)连接，上虎克铰(44)同时与动平台连接；下虎克铰(42)的第一个转轴(421)的轴线与连接两个下连杆(412、413)的转动副(417)的轴线共线，上虎克铰(44)与下虎克铰(42)在连接它们的上连杆(43)上的第二个转轴(442)与第二个转轴(422)的轴线相互平行；三个上虎克铰的第一个转轴(441)的轴线的相互位置关系为相互平行。Five rotating pair planar kinematic chains (41) are planar pentagons and five rotating pairs (415, 416, 417, 418 and 419 ), wherein the static platform is used as the frame, the two lower links (411, 414) are the two link bars located at the bottom, and the two lower links (412, 413) are the two links located in the middle, The axes of the five rotating pairs (415, 416, 417, 418 and 419) are parallel to each other, and are all perpendicular to the plane where the four lower connecting rods (411, 412, 413 and 414) are located, and the two lower connecting rods (411, 414) rotation is used as the drive of the kinematic branch chain, and the two rotating pairs (415, 419) are the kinematic pairs at the bottom of the kinematic branch chain, and an angle measurement is installed on each kinematic pair at the bottom layer through a long axis. Components and a damper, two revolving pairs (415, 419) are connected with the static platform through the bearing seat; the lower Hooke hinge is installed at the hinge of the two lower connecting rods (412, 413), and the lower Hooke hinge passes through the upper The connecting rod (43) is connected with the upper Hooke hinge (44), and the upper Hooke hinge (44) is connected with the moving platform simultaneously; the axis of the first rotating shaft (421) of the lower Hooke hinge (42) is connected with the two lower hinges. The axes of the rotary pair (417) of connecting rod (412,413) are collinear, and the second rotating shaft ( 442) and the axes of the second rotating shaft (422) are parallel to each other; the mutual positional relationship of the axes of the first rotating shaft (441) of the three upper Hooke hinges is parallel to each other.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
本发明采用一个控制手柄即可提供六路控制信号源从而实现六维运动的控制。该控制器成本低，结构紧凑，易于加工，操作方便，失真度小(更加灵巧)，刚度大，同时对操作者的要求低，感受直观，不要求操作者有较多的专业知识即可操作。The invention adopts one control handle to provide six control signal sources so as to realize the control of six-dimensional motion. The controller is low in cost, compact in structure, easy to process, easy to operate, small in distortion (more dexterous), high in rigidity, low in requirements on the operator, intuitive in feeling, and does not require the operator to have more professional knowledge to operate .
本发明中的被控物体可以是某虚拟物体，也可以是某现实中的实际物体，该控制器能使被控物体的位移与动平台的位移直接相关，而不是与动平台手柄所受的力相关，更加直观，可应用于需要对三维移动和三维转动进行宏动控制的场合。The controlled object in the present invention can be a virtual object or an actual object in reality. The controller can make the displacement of the controlled object directly related to the displacement of the moving platform instead of the displacement of the moving platform handle. Force-related, more intuitive, and can be applied to occasions that require macro control of three-dimensional movement and three-dimensional rotation.
附图说明Description of drawings
图1为本发明单控制手柄宏动六维控制器一种实施例的整体结构示意图；Fig. 1 is a schematic diagram of the overall structure of an embodiment of the single control handle macro-motion six-dimensional controller of the present invention;
图2为本发明单控制手柄宏动六维控制器一种实施例一个运动支链4的连接结构示意图；Fig. 2 is a schematic diagram of the connection structure of a motion branch chain 4 of an embodiment of the single control handle macro-motion six-dimensional controller of the present invention;
图3为本发明单控制手柄宏动六维控制器一种实施例的俯视结构示意图；Fig. 3 is a top view structure schematic diagram of an embodiment of the single control handle macro motion six-dimensional controller of the present invention;
图4为本发明单控制手柄宏动六维控制器一种实施例的工作流程图；Fig. 4 is a working flow chart of an embodiment of the single control handle macro-motion six-dimensional controller of the present invention;
图5为本发明单控制手柄宏动六维控制器一种实施例的存储介质的运行流程图。Fig. 5 is a flow chart of the operation of the storage medium of an embodiment of the single control handle macro-motion six-dimensional controller of the present invention.
图中，1阻尼器、2角度测量元件、3静平台、4运动支链、5.信号采集处理模块、7动平台、8手柄、6存储介质；41五转动副平面运动链，44上虎克铰，42下虎克铰，411～414 下连杆，415～418转动副，421、441第一个转轴，422、442第二个转轴。In the figure, 1 damper, 2 angle measuring element, 3 static platform, 4 motion branch chain, 5. signal acquisition and processing module, 7 dynamic platform, 8 handle, 6 storage medium; 41 five-rotation pair planar kinematic chain, 44 upper tiger Gram hinge, 42 lower Hooke hinges, 411～414 lower connecting rods, 415～418 rotating pairs, 421,441 first rotating shaft, 422,442 second rotating shaft.
具体实施方式detailed description
下面结合实施例及附图进一步叙述本发明，但实施例不限制本申请的权利要求保护范围。The present invention will be further described below in conjunction with the embodiments and accompanying drawings, but the embodiments do not limit the protection scope of the claims of the application.
本发明单控制手柄宏动六维控制器(简称控制器，参见图1-3)包括六个阻尼器1、六个角度测量元件2、静平台3、三条结构尺寸相同的运动支链4、信号采集处理模块5、动平台 7、手柄8和存储介质6，所述三条结构尺寸相同的运动支链均匀分布在静平台3和动平台7 之间，六个阻尼器1和六个角度测量元件2成对的分布于三条运动支链4的最下端的转动副上；所述动平台7的上部安装手柄8，角度测量元件2通过导线与信号采集处理模块的输入端连接，信号采集处理模块5的输出端采用RS485通讯协议与存储介质连接；所述存储介质内加载有运动学正解算法，存储介质与被控物体连接；The single control handle macro-moving six-dimensional controller of the present invention (referred to as the controller, see Fig. 1-3) includes six dampers 1, six angle measuring elements 2, a static platform 3, three kinematic branch chains 4 with the same structural size, Signal acquisition and processing module 5, moving platform 7, handle 8 and storage medium 6, the three motion branch chains with the same structural size are evenly distributed between the static platform 3 and the moving platform 7, six dampers 1 and six angle measurement Components 2 are distributed in pairs on the lowermost revolving pairs of the three motion branch chains 4; a handle 8 is installed on the top of the moving platform 7, and the angle measuring component 2 is connected with the input end of the signal acquisition and processing module through a wire, and the signal acquisition and processing The output end of the module 5 is connected to the storage medium using the RS485 communication protocol; the storage medium is loaded with a kinematics positive solution algorithm, and the storage medium is connected to the controlled object;
所述每条运动支链均包括一个五转动副平面运动链41、上连杆43、上虎克铰44和下虎克铰42，五转动副平面运动链41的上端连接下虎克铰42，下端连接静平台3，上虎克铰44 和下虎克铰42之间通过上连杆43连接；Each of the kinematic branch chains includes a five-rotation pair plane kinematic chain 41, an upper connecting rod 43, an upper Hooke hinge 44 and a lower Hooke hinge 42, and the upper end of the five-rotation pair plane kinematic chain 41 connects the lower Hooke hinge 42 , the lower end is connected to the static platform 3, and the upper Hooke hinge 44 and the lower Hooke hinge 42 are connected by an upper link 43;
五转动副平面运动链41是由四个下连杆(411、412、413和414)以及静平台3构成的平面五边形及五个转动副(415、416、417、418和419)构成，其中，静平台作为机架，两个下连杆(411、414)为位于下部的两个连架杆，两个下连杆(412、413)为位于中间的两个连杆，五个转动副(415、416、417、418和419)的轴线相互平行，并均垂直于四个下连杆(411、412、413和414)所在的平面，两个下连杆(411、414)转动作为该运动支链的驱动，两个转动副(415、419)为运动支链4的最下层的运动副，每个最下层的运动副上均通过一根长轴安装有一个角度测量元件2和一个阻尼器1，两个转动副(415、419)通过轴承座与静平台3相连接；在两个下连杆(412、413)的铰接处安装下虎克铰42，下虎克铰 42通过上连杆43与上虎克铰44连接，上虎克铰44同时与动平台2连接；下虎克铰42的第一个转轴421的轴线与连接两个下连杆(412、413)的转动副417的轴线共线，上虎克铰44 与下虎克铰42在连接它们的上连杆43上的第二个转轴442与第二个转轴422的轴线相互平行；三个上虎克铰的第一个转轴441的轴线的相互位置关系为相互平行；The five-rotating pair planar kinematic chain 41 is composed of four lower connecting rods (411, 412, 413 and 414) and a plane pentagon formed by the static platform 3 and five rotating pairs (415, 416, 417, 418 and 419). , wherein the static platform is used as the frame, the two lower links (411, 414) are the two link bars located at the bottom, the two lower links (412, 413) are the two links located in the middle, and the five The axes of the revolving pairs (415, 416, 417, 418 and 419) are parallel to each other and are perpendicular to the plane where the four lower connecting rods (411, 412, 413 and 414) are located. The two lower connecting rods (411, 414) Rotation is used as the drive of the kinematic branch chain, and the two rotation pairs (415, 419) are the lowermost kinematic pairs of the kinematic branch chain 4, and an angle measuring element is installed on each lowermost kinematic pair through a long axis 2 and a damper 1, two revolving pairs (415, 419) are connected with the static platform 3 through the bearing housing; the lower Hooke hinge 42 is installed at the hinge of the two lower connecting rods (412, 413), and the lower Hooke The hinge 42 is connected with the upper Hooke hinge 44 by the upper connecting rod 43, and the upper Hooke hinge 44 is connected with the moving platform 2 at the same time; 413) the axes of the revolving pair 417 are collinear, and the second rotating shaft 442 and the second rotating shaft 422 on the upper connecting rod 43 connecting them are parallel to each other with the axes of the upper Hooke hinge 44 and the lower Hooke hinge 42; The mutual positional relationship of the axes of the first rotating shaft 441 of the upper Hooke hinge is parallel to each other;
安装在同一个转动副(415或419)上的阻尼器1和角度测量元件2分别位于该转动副的轴线方向的一侧或两侧。The damper 1 and the angle measuring element 2 installed on the same rotating pair (415 or 419) are respectively located on one side or both sides of the axial direction of the rotating pair.
所述动平台7由上下两个大小形状完全相同的板件组成，易于加工，成本低，同时安装上虎克铰44非常方便；手柄8的下端为阶梯轴，动平台的两个板件由手柄下端的阶梯轴定位，并由三组螺栓螺母紧固。Described moving platform 7 is made up of two plates of identical size and shape up and down, is easy to process, and cost is low, and it is very convenient to install Hooke hinge 44 at the same time; The stepped shaft at the lower end of the handle is positioned and fastened by three sets of bolts and nuts.
所述上连杆43由两个相同的平行杆件组成，更易于加工，成本低，简化了上虎克铰42 和下虎克铰44的安装方式，安装非常方便，克服了现有虎克铰的安装方式复杂且成本较高的问题。The upper connecting rod 43 is composed of two identical parallel rods, which is easier to process and has low cost. It simplifies the installation of the upper Hooke hinge 42 and the lower Hooke hinge 44. It is very convenient to install and overcomes the existing Hooke hinge. The installation method of hinge is complex and the problem of high cost.
所述上虎克铰44和下虎克铰42的形状结构相同，上虎克铰44由两个转轴组成，两个转轴(第一个转轴和第二个转轴)呈十字交叉状，上虎克铰的加工方法是：首先加工出两个转轴，其中一个转轴的中心打有通孔，该通孔的直径与另一个转轴的中间位置的直径相匹配，将没有通孔的转轴插进有通孔的轴的通孔里，用轴肩定位，定位之后，将两个转轴焊接在一起，完成上虎克铰的十字轴的加工；第一个转轴441的两端分别连接动平台的上下两个板件，第二个转轴442的两端分别连接上连杆43的两个平行杆件，如此的安装方式简单易行，且能显著降低成本。The shape and structure of the upper Hooke hinge 44 and the lower Hooke hinge 42 are identical. The upper Hooke hinge 44 is made up of two rotating shafts, and the two rotating shafts (the first rotating shaft and the second rotating shaft) are in a cross shape. The processing method of the gram hinge is: first process two rotating shafts, one of which has a through hole in the center, and the diameter of the through hole matches the diameter of the middle position of the other rotating shaft, insert the rotating shaft without the through hole into the In the through hole of the shaft of the through hole, the shaft shoulder is used for positioning. After positioning, the two rotating shafts are welded together to complete the processing of the cross shaft of the upper Hooke hinge; the two ends of the first rotating shaft 441 are respectively connected to the upper and lower sides of the moving platform With two plates, the two ends of the second rotating shaft 442 are respectively connected to the two parallel rods of the upper link 43. Such an installation method is simple and easy, and can significantly reduce the cost.
本发明所述角度测量元件用于测量运动支链中连架杆即下连杆(411或414)的角位移，可以为电感传感器、电容传感器、感应同步器、光栅传感器、磁栅传感器、旋转变压器、电位计和光电编码器中的任意一种，同一个控制器上只能用一种角度测量元件。The angle measuring element of the present invention is used to measure the angular displacement of the link rod (411 or 414) in the motion branch chain, and can be an inductive sensor, a capacitive sensor, an inductive synchronizer, a grating sensor, a magnetic grating sensor, a rotating For any one of transformers, potentiometers and photoelectric encoders, only one angle measuring element can be used on the same controller.
本发明所述存储介质为电脑或DSP系统，为电脑时，被控物体是虚拟物体，电脑内加载运动学正解算法，信号采集处理模块处理后的信号在电脑中进行求正解处理，计算出机构正解，通过改变手柄的动作而改变电脑中虚拟物体的移动；为DSP系统时，被控物体是现实中的实际物体，DSP系统同时与现实中的实际物体连接，信号采集处理模块处理后的信号在DSP 系统中进行求正解处理，计算出机构正解，使用者通过改变手柄的动作而改变现实中的实际物体的移动。The storage medium of the present invention is a computer or a DSP system. When it is a computer, the controlled object is a virtual object, and the kinematics positive solution algorithm is loaded in the computer. Positive solution, change the movement of virtual objects in the computer by changing the action of the handle; when it is a DSP system, the controlled object is an actual object in reality, and the DSP system is connected to the actual object in reality at the same time, and the signal processed by the signal acquisition and processing module The positive solution processing is carried out in the DSP system, and the positive solution of the mechanism is calculated. The user can change the movement of the actual object in reality by changing the action of the handle.
本发明的工作原理和过程是：在静平台上可以安装阻尼器1和角度测量元件2，阻尼器1 在人不使用控制器的时候，避免控制器因为受重力作用而不能保持原本的位置，角度测量元件2用来测量连架杆411、连架杆414的角位移，即感应转动副(415、419)的转动。三条运动支链上的六个转动副(415、419)由轴套配合实现，转动副415和转动副419所在位置为轴承座所在的位置，应用轴承座承受运动支链4、动平台7和手柄8的重量，中间用一根长轴来保证角度测量元件2、连架杆和阻尼器1没有相对转动。转动副(416或418)的两端各有一个法兰盘，中间用一根短轴将一个连架杆(411或414)和一个位于中间的连杆(412 或413)联接，构成转动副。上连杆43由两个相同的杆件组成，两个杆件相互静止，位于两个第二个转轴(422、442)的转动副中间。第一个转轴441和第二个转轴442构成一个虎克铰，由一个十字轴完成虎克铰的两个转动副的运动约束。The working principle and process of the present invention are: the damper 1 and the angle measuring element 2 can be installed on the static platform, and the damper 1 prevents the controller from being unable to maintain the original position due to gravity when the controller is not used. The angle measuring element 2 is used to measure the angular displacement of the connecting rod 411 and the connecting rod 414, that is, to sense the rotation of the revolving pair (415, 419). The six rotation pairs (415, 419) on the three motion branch chains are realized by the cooperation of the shaft sleeves. The positions of the rotation pair 415 and the rotation pair 419 are the positions of the bearing seats, and the bearing seats are used to bear the movement branch chain 4, the moving platform 7 and The weight of the handle 8 uses a long axis in the middle to ensure that the angle measuring element 2, the connecting rod and the damper 1 do not rotate relative to each other. There is a flange at both ends of the rotating pair (416 or 418), and a connecting rod (411 or 414) and a connecting rod (412 or 413) in the middle are connected by a short shaft in the middle to form a rotating pair . The upper link 43 is composed of two identical rods, which are mutually stationary and are located in the middle of the revolving pair of the two second rotating shafts (422, 442). The first rotating shaft 441 and the second rotating shaft 442 form a Hooke hinge, and a cross axis completes the movement constraints of the two revolving pairs of the Hooke hinge.
人手操作手柄，手柄带动动平台与运动支链4运动，当三个运动支链4的转动副(415 和419)共同被相应的角度测量元件2感应时，测量六个角位移，角度测量元件输出六个电压信号，信号采集处理模块5接收测量信号，六个电压信号经信号采集处理模块5进行采样和AD转换后输出六个数字信号，再将六个数字信号传到存储介质，经存储介质计算出机构正解，求出动平台位姿。这里的机构指这三条运动支链和动平台组成的机构，机构正解是指已知六个下连杆(三个连架杆411和三个连架杆414)的转角，求出动平台位姿的过程。如果被控物体是一个虚拟的物体，那么就让虚拟物体跟随控制器的运动而运动；如果被控物体是现实中的实际物体，就通过DSP系统控制现实中的实际物体的电机的信号，从而控制电机转动，使那个现实中的实际物体跟随本发明中的手柄运动。The handle is manually operated, and the handle drives the moving platform and the motion branch chain 4 to move. When the rotation pairs (415 and 419) of the three motion branch chains 4 are jointly sensed by the corresponding angle measuring element 2, six angular displacements are measured. The angle measuring element Output six voltage signals, the signal acquisition and processing module 5 receives the measurement signal, the six voltage signals are sampled and AD converted by the signal acquisition and processing module 5, and output six digital signals, and then the six digital signals are transmitted to the storage medium, and stored The medium calculates the forward solution of the mechanism and obtains the pose of the moving platform. The mechanism here refers to the mechanism composed of the three motion branch chains and the moving platform. The positive solution of the mechanism means that the rotation angles of the six lower connecting rods (three connecting rods 411 and three connecting rods 414) are known, and the position of the moving platform is calculated. posture process. If the controlled object is a virtual object, then let the virtual object move with the movement of the controller; if the controlled object is an actual object in reality, the signal of the motor of the actual object in reality is controlled by the DSP system, thereby The motor is controlled to rotate so that the actual object in reality follows the handle movement of the present invention.
求出六维控制器的动平台位姿后，根据被控物体的实际需要，如果被控物体是一个实际的物体，DSP系统控制被控物体的主动件完成特定的运动，例如被控物体是由电机驱动，DSP 系统则会控制此时电机的转速，转向等。在电脑里算出正解，直接控制虚拟物体，在电脑中完成该虚拟物体在虚拟空间中的运动，实现交互式仿真；或者是在DSP系统里算出正解后，再算出被控物体的主动件的运动，直接由DSP系统与被控物体的主动件相连(主动件比如说可以是电机等)，通过DSP系统实现被控物体跟随手柄的运动而运动。After calculating the pose of the moving platform of the six-dimensional controller, according to the actual needs of the controlled object, if the controlled object is an actual object, the DSP system controls the active part of the controlled object to complete a specific movement, for example, the controlled object is Driven by a motor, the DSP system will control the speed and steering of the motor at this time. Calculate the positive solution in the computer, directly control the virtual object, complete the movement of the virtual object in the virtual space in the computer, and realize interactive simulation; or calculate the positive solution in the DSP system, and then calculate the motion of the active part of the controlled object The DSP system is directly connected to the active part of the controlled object (the active part can be a motor, etc.), and the controlled object moves with the movement of the handle through the DSP system.
本发明中被控物体可以是某虚拟物体，也可以是某现实中的实际物体，使被控物体的位移与动平台(这个动平台就是指控制器的动平台或者手柄)的位移直接相关，更容易被控制。In the present invention, the controlled object can be a virtual object or an actual object in reality, so that the displacement of the controlled object is directly related to the displacement of the moving platform (this moving platform refers to the moving platform or the handle of the controller), Easier to be controlled.
本发明所述存储介质的运行流程是(参见图5)：开始并进行串口初始化，打开串口，然后对信号采集处理模块传来的信号进行信号采集，并对该信号进行正解运算，再将正解运算结果与前一次循环的位置进行比较，如果机构位置没有变化量，则返回信号采集，如果机构位置有变化量，则将正解运算的数据下传至被控物体，被控物体执行相应的动作，完成一次循环；再判断动平台是否停止工作，若没有停止工作，则进入下一次循环，存储介质时刻监测信号采集处理模块的信号，信号采集处理模块给出下一次信号，进行正解运算；若动平台停止工作，则关闭串口，结束程序。The operating process of the storage medium of the present invention is (see Fig. 5): start and initialize the serial port, open the serial port, then carry out signal acquisition to the signal transmitted by the signal acquisition processing module, and carry out positive solution calculation to the signal, and then convert the positive solution The operation result is compared with the position of the previous cycle. If there is no change in the position of the mechanism, the signal collection will be returned. If there is a change in the position of the mechanism, the data of the positive solution operation will be downloaded to the controlled object, and the controlled object will perform the corresponding action. , to complete a cycle; then judge whether the moving platform stops working, if not stop working, then enter the next cycle, the storage medium monitors the signal of the signal acquisition and processing module at all times, the signal acquisition and processing module gives the next signal, and performs positive solution calculation; if If the moving platform stops working, close the serial port and end the program.
本发明中所述的信号采集处理模块为C2000 MDV8电压采集模块。The signal acquisition and processing module described in the present invention is a C2000 MDV8 voltage acquisition module.
本发明未述及之处适用于现有技术。What is not mentioned in the present invention is applicable to the prior art.
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