METHOD AND DEVICE FOR DEVELOPING CONTROL INTERFACES FOR MECHATRONIC SYSTEMS IN VIRTUAL REALITY ENVIRONMENT

摘要

The invention relates to a method and a device for developing versatile intelligent portable control interfaces in virtual environment and virtual reality environment, to be validated in real time on a classic mechatronic control system and/or physical mechatronic system, meant to improve the control performances regarding movement, navigation and orientation of mechatronic systems on control axes, with applications in carrying out control systems for robots, nano/micro/macro manipulators and mechatronic systems. The claimed method consists in carrying out an interface for modeling the mechatronic system (IMSM), carrying out an interface for simulating a mechatronic system (ISSM), a virtual reality system (SRV), an open-architecture actuators control system (OAHA), an open-architecture load control system (OAHS), in developing the open-architecture actuators control system (OAHA), in generating position and force references, in simulating and validating the mechatronic system in the virtual environment, in simulating and validating the mechatronic system in the virtual reality environment, as well as in the operation of simulation and validation, in case of existance of a physical mechatronic system (SMF), and the remote control inside a global communication network. The claimed device comprises some modules, i. d. an interface module for simulating the mechatronic system (ISSM), a classic system for controlling the mechatronic system (OAHA), a set of m servo-actuator modules (MSA-MSA), a load generator module (MGS), a virtual reality system (SRV), a set of n versatile interfaces for intelligent control (ICI-ICI), an interface module for decision and consolidation (IDF), a set of p remote control interfaces (ICD-ICD) and a set of p PCS servers (PCS-PCS).