中文摘要：

传统的力触觉渲染多采用阻抗控制,不能很好地满足虚拟装配的应用要求,相比之下导纳控制模式更适用这一领域.为此提出一种基于导纳控制的双线程力觉渲染构架,并给出相应的力觉渲染算法.首先建立用于导纳控制的动力学模型,并讨论了碰撞和约束这2个状态下的力觉渲染;为了使用力觉交互接口进行虚拟装配中的小间隙装配,提出物理约束与几何约束结合的力觉渲染方法;最后针对物理计算和力反馈循环2个线程刷新频率不匹配的问题,利用二次拉格朗日多项式进行数值插值,实现了力觉交互接口的平稳输出.通过力反馈设备与自主开发的虚拟装配原型系统VAPP的连接与应用,验证了所提出的算法满足虚拟装配系统中力觉交互的应用要求.

英文摘要：

In conventional haptic feedback technologies,impedance control is used as the main control mode,which can hardly meet the requirements in virtual assembly.Admittance control mode is more suitable for haptic rendering.The framework and algorithms of the haptic rendering based on admittance control mode are presented.First,dynamics model used for admittance control is given,and haptic rendering under the states of collision and constraint are discussed.Second,to solve the problem of small clearance assembly,a method of haptic rendering combining physical constraints with geometric constraint is presented.Third,the method of quadratic Lagrangian interpolation is adopted,aiming at solving the problem of asynchrony between haptic feedback loop and physical computing loop to maintain the stability of the haptic device.The algorithms are implemented and the haptic device is connected and utilized in the virtual assembly process planning system（VAPP）.The results show that the algorithms can meet the need of haptic interaction in the virtual assembly system.