摘要： 提出一种六维鼠标中力矩与转角转换的新方法,不但简化了角计算方法中的繁琐过程,而且不需用任何三角、反三角、开方等RPY这些对单片机来说非常耗时的复杂数学运算,大大缩减了计算量,提高了整个鼠标系统的快速性,因此该算法更便于单片机使用。误差分析表明在很宽的转角变化范围之内,用该方法得到计算结果和方法得到的计算结果之间存在很小的误差,而这种微量误差对于用鼠标操作RPY的系统来讲是完全可以接受的,运动学控制实验证明了该方法的可行性。

关键词: 六维鼠标, 虚拟现实, 输入设备, 误差分析

Abstract: This paper presents a new method about transforming torques into rotation angles used in a 6 DOF mouse, which not only simplifies calculation process of the RPY method but also doesn't need trigonometric functions, square functions, etc., that consumes much time in singlechip, so this method can improve the system's response speed, and is more convenient for usage of singlechip. The error analysis shows that there is a small error between RPY method and this method, and this error is acceptable to the mouse control system. The test results prove this method is efficient.

中图分类号: 

• TP242.6