A NEW METHOD OF PRESENTING REALISTIC MOTIONS FOR A 3-DEGREE-OF-FREEDOM MOTION BASE APPLIED IN VIRTUAL REALITY SYSTEM

摘要

In this paper, a construction tele-robotic system that has wide applications is developed such as restoration work in a stricken area. The system consists of a servo-controlled construction robot, two joysticks for operations of the robot from a remote place and a 3-degree-of-freedom (DOF) motion base. The operator sits on a seat attached on the motion base. A vital problem that must be solved in such a system is how to convey the presence of working fields to the operator in high quality to form the operator feel an adequate presence. In this paper, a method of employing the 3-DOF motion base is investigated to generate such a realistic motion as produced by a 6-DOF motion base. Consequently, a new method that such motions are generated according to the symbols of three acceleration sensors is given. The validity of this method has been confirmed experimentally. Namely, the 3-DOF motion base can simulate not only the angular acceleration of roll, pitch, but also the acceleration of heave, surge and sway, and the inertia acceleration caused by the horizontal rotation around the plumb axis as well. The operator on the 3-DOF motion base could feel the presence as if he were sitting on a 6-DOFmotion base.