Design and analysis of an interactive motion simulator with multiple bilateral controllers in virtual entertainment system

Abstract

In This work, the analysis and design of a motion simulator (based on the approach taken by interactive virtual reality (VR) entertainment systems) is conducted. The main components of the system include a bilateral control interface, networking, simulation, and a motion simulator control scheme. The virtual reality entertainment system uses a virtual environment that enables operators to feel the actual feedback sensing and distorted motion from the virtual environment, just as they would in the real environment. The virtual reality entertainment system integrates the dynamics of the motion simulator and the virtual environment and the operator maneuvers a joystick to interact with the system. The multiple bilateral control schemes employ a dynamical controller, which is designed by considering the velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator, and the feedback to the operator. In addition, we develop a calculated method to evaluate the VR ratio of the simulation results. The stability robustness of the closed-loop system is analyzed based on the servo bandwidth and stiffness. It is shown that the proposed control scheme can improve the performance of the visual entertainment system. Experiments are conducted on the virtual reality entertainment system to validate the theoretical developments.