中文摘要：

为了对结构复杂的并联构型手控器进行力反馈操作,提出一种基于虚拟仿真的动力学建模与控制方法.首先分析Maryland构型的手控器并建立其数学模型,同时在Sim Mechanics仿真环境下建立其物理仿真模型,其中仿真模型能够根据实验环境与标定参数直接进行修正补偿.通过对比两种模型的驱动结果,证实修正后的仿真模型精度更高,可应用于动力学控制.最后按控制需求,在仿真模型基础上设计碰撞模块,搭建出半实物仿真系统,完成了根据碰撞信号在操作过程中生成水平反馈力的实验.其中手控器的受力情况与系统的仿真结果一致,证实了控制方法的可行性和准确性.

英文摘要：

A dynamic modeling and control method is presented based on virtual simulation to achieve force-feedback operation of complicated haptic device with parallel structure. Firstly, the Maryland haptic device is analyzed and its mathe- matic model is established. And, a physical simulation model is built in SimMechanics environment, which can be amended and compensated directly according to the experimental environment and the calibration parameters. The driving results of the two models are contrasted, and the result shows that the revised simulation model has higher precision and can be used for dynamic control. Finally, a semi-physical simulation system is established according to control requirements, after designing the collision simulation module on the basis of the simulation model. And the experiment is accomplished about generating horizontal feedback force according to collision sign in operation process. The haptic device forces in the simulation and the experiment are consistent, which shows the feasibility and accuracy of the control method.