Force Feedback Coupling with Dynamics for Physical Simulation of Product Assembly and Operation Perf

来源 :中国机械工程学报 | 被引量 : 0次 | 上传用户:lrg1169
下载到本地 , 更方便阅读
声明 : 本文档内容版权归属内容提供方 , 如果您对本文有版权争议 , 可与客服联系进行内容授权或下架
论文部分内容阅读
Most existing force feedback methods are still difficult to meet the requirements of real-time force calculation in virtual assembly and operation with complex objects. In addition, there is often an assumption that the controlled objects are completely free and the target object is only completely fixed or free, thus, the dynamics of the kinematic chain where the controlled objects are located are neglected during the physical simulation of the product manipulation with force feedback interaction. This paper proposes a physical simulation method of product assembly and operation manipulation based on statistically learned contact force prediction model and the coupling of force feedback and dynamics. In the proposed method, based on hidden Markov model (HMM) and local weighting learning (LWL), contact force prediction model is constructed, which can estimate the contact force in real time during interaction. Based on computational load balance model, the computing resources are dynamically assigned and the dynamics integral step is optimized. In addition, smoothing process is performed to the force feedback on the synchronization points. Consequently, we can solve the coupling and synchronization problems of high-frequency feedback force servo, low-frequency dynamics solver servo and scene rendering servo, and realize highly stable and accurate force feedback in the physical simulation of product assembly and operation manipulation. This research proposes a physical simulation method of product assembly and operation manipulation.
其他文献
Fault tolerance is essential for quadruped robots when they work in remote areas or hazardous environments. Many fault-tolerant gaits planning method proposed i
Current design rationale (DR) systems have not demonstrated the value of the approach in practice since little attention is put to the evaluation method of DR k
Low weight and good toughness thin plate parts are widely used in modern industry, but its flexibility seriously impacts the machinability. Plenty of studies fo
加强大学生学风建设,是确保高校教育教学质量的重要保障,是推动学校改革发展的重要环节.本文论述了大学生学风建设的重要意义,分析了大学生学风建设的现状,并对如何促进良好
In design optimization of crane metal structures, present approaches are based on simple models and mixed variables, which are difficult to use in practice and
The dynamic behavior of the stranded wire helical spring is described by a modified Bouc-Wen model while the model parameters must be identified using an identi
Chain drive system is widely used in the conditions of high-speed, overload, variable speed and load. Many studies are focused on the meshing theory and wear ch
The service condition determines the Rolling Contact Fatigue(RCF) failure mechanism and lifetime under ascertain material structure integrity parameter of therm
随着我国高等教育的不断发展,研究生招生规模也相应扩大.面对日益增长的教育开支和补贴,政府财政已是不堪重负.研究生培养机制改革逐渐提上日程.然而随着成本分担制的试行,高
Traditional welding methods are limited in low heat input to workpiece and high welding wire melting rate. Twin-wire indirect arc(TWIA) welding is a new welding