[1]吴涓,宋爱国,李建清.基于时间序列的虚拟接触力的建模方法研究[J].东南大学学报(自然科学版),2005,35(2):239-242.[doi:10.3969/j.issn.1001-0505.2005.02.017]
 Wu Juan,Song Aiguo,Li Jianqing.Research on modeling of virtual contact force based on time series[J].Journal of Southeast University (Natural Science Edition),2005,35(2):239-242.[doi:10.3969/j.issn.1001-0505.2005.02.017]
点击复制

基于时间序列的虚拟接触力的建模方法研究()
分享到:

《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
35
期数:
2005年第2期
页码:
239-242
栏目:
计算机科学与工程
出版日期:
2005-03-20

文章信息/Info

Title:
Research on modeling of virtual contact force based on time series
作者:
吴涓 宋爱国 李建清
东南大学仪器科学与工程系, 南京 210096
Author(s):
Wu Juan Song Aiguo Li Jianqing
Department of Instrument Science and Technology, Southeast University, Nanjing 210096, China
关键词:
力觉建模 时间序列 弹簧-质点模型
Keywords:
haptic modeling time series spring-mass model
分类号:
TP393
DOI:
10.3969/j.issn.1001-0505.2005.02.017
摘要:
为了同时提高力觉再现系统中力觉模型的实时性和精度,提出了一种基于时间序列的虚拟力预测算法用于改进弹簧质点接触力/变形模型.该模型不仅研究力与变形的关系,而且还考虑力的历史变化.对不同的接触对象,测量接触力随时间的变化,根据实际测量数据,建立AR模型,在物理模型计算的时间间隔内用AR模型预测虚拟力.实验结果表明, 和以往仅考虑力与变形关系的力/变形物理模型相比,加入时间序列预测的模型,能提高力觉再现的刷新频率,同时保证较高的精度.
Abstract:
In order to improve the precision and computing rate of haptic model in haptic rendering system, a time series based virtual force predict method is added to the mass-spring force/deformation model. The method is not only concerned with the relation between force and deformation, but also the variation history of force. To different objects, firstly the contact force which varies with time are measured, and AR models are deduced according to the experience data, then the virtual force can be extrapolated with the AR model at the compute interval of physical-based model. The experiment results show that: compared with previous physical-based mass-spring force/deformation model, adding time series prediction can increase the update rate of haptic rendering and precision.

参考文献/References:

[1] Mark W R,Randolph S C,Finch M,et al.Adding force feedback to graphic systems:issues and solutions[A].In:Proceeding of SIGGRAPH 96[C].New Orleans,1996.447-452.
[2] Gibson S F F,Mirtich B.A survey of deformable modeling in computer graphic[R].Mitsubish Electric Research Lab.,Cambridge,MA,1999.
[3] 周光泉,刘孝敏.粘弹性理论[M].合肥:中国科学技术大学出版社,1996.179-188.
[4] Shin H,Badler N I.Modeling a deformable human arm for constrained reach analysis[A].In:Proc Digital Human Modeling Conference[C].Munich,Germany,2002.217-228.
[5] Miller B E,Coglate J E,Freeman R A.Passive implementation for a class of static nonlinear environments in haptic display[A].In:Proceeding of the 1999 IEEE International Conference on Robotics & Automation [C].Detroit,Michigan,1999.2937-2942.
[6] Savchenko V.3-D geometric modeler with haptic feedback:engraving simulation[A].In:Proceedings 2nd PHANTOM Users Research Symposium[C].Zurich,Switzerland,2000.35-42.
[7] Zilles C B,Salisbury J K.A constraint-based god-object method for haptic display[A].In:Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Pittsburgh,PA,1995.146-151.
[8] Laugier C,Mendoza C,Sundaraj K.Faithful haptic feedback in medical simulators[A].In: International Symposium in Experimental Robotics[C].Italy,2002.414-424.
[9] Picinbono G,Lombardo J C.Extrapolation:a solution for force feedback?[A].In:Proceedings of the 7th GTRV Congress[C].Laval,France,1999.117-125.
[10] 杨叔子.时间序列分析的工程应用:下册[M].武汉:华中理工大学出版社,1992.73-90.
[11] 许国辉,余春林.时间序列分析方法的研究[J].广州大学学报(自然科学版),2003,2(6):556-559.
  Xu Guohui,Yu Chunlin.A study on time series analysis method [J].Journal of Guangzhou University(Natural Science Edition), 2003,2(6):556-559.(in Chinese)
[12] 董言治,刘松涛,尉志苹,等.基于Matlab的时间序列分析和动态数据建模[J].计算机工程,2003,29(12):170-172.
  Dong Yanzhi,Liu Songtao,Wei Zhipin,et al.Analyses and modeling of times series based on Matlab[J]. Computer Engineering,2003,29(12):170-172.(in Chinese)
[13] 王国锋,王子良,王太勇,等.Matlab在时间序列分析中的应用[J].应用科技,2003,30(5):36-38.
  Wang Guofeng,Wang Zilang,Wang Taiyong,et al.Application of Matlab in time series analysis[J]. Applied Science and Technology, 2003,30(5):36-38.(in Chinese)

相似文献/References:

[1]闫雷鸣,孙志挥,张柏礼.一种时序数据局部相关对象聚类算法[J].东南大学学报(自然科学版),2007,37(5):793.[doi:10.3969/j.issn.1001-0505.2007.05.011]
 Yan Leiming,Sun Zhihui,Zhang Baili.Fast biclustering algorithm for local correlated objects in time series data[J].Journal of Southeast University (Natural Science Edition),2007,37(2):793.[doi:10.3969/j.issn.1001-0505.2007.05.011]
[2]陈熙源,万德钧,程启明,等.陀螺随机漂移的神经网络预报方法研究[J].东南大学学报(自然科学版),1998,28(5):79.[doi:10.3969/j.issn.1001-0505.1998.05.015]
 Chen Xiyuan,Wan Dejun,Cheng Qiming,et al.Forecasting Random Drift Rate for Strapdown Gyro by Neural Networks[J].Journal of Southeast University (Natural Science Edition),1998,28(2):79.[doi:10.3969/j.issn.1001-0505.1998.05.015]
[3]黄仁,时修荣,沙勇,等.磨削烧伤在线辨识的理论研究[J].东南大学学报(自然科学版),1988,18(2):1.[doi:10.3969/j.issn.1001-0505.1988.02.001]
 Huang Ren Shi Xiuiong Sha Yong Sun Xiaoiun Su Guisheng (Department of Mechanical Engineering).A Theoretical Study of On-line Identification of the Grinding Burn[J].Journal of Southeast University (Natural Science Edition),1988,18(2):1.[doi:10.3969/j.issn.1001-0505.1988.02.001]

备注/Memo

备注/Memo:
基金项目: 国家重点基础研究发展计划(973计划)资助项目(2002CB312102)、国家自然科学基金资助项目(60375032).
作者简介: 吴涓(1978—),女,博士生; 宋爱国(联系人),男,教授,博士生导师,a.g.song@seu.edu.cn.
更新日期/Last Update: 2005-03-20