基于接触力信息的解耦式力反馈手控器

doi:10.13973/j.cnki.robot.2014.0477

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引用本文:
宋荆洲, 白杨, 孙汉旭, 贾庆轩, 高欣, 王一帆. 基于接触力信息的解耦式力反馈手控器[J]. 机器人, 2014, 36(4): 477-484.DOI: 10.13973/j.cnki.robot.2014.0477. SONG Jingzhou, BAI Yang, SUN Hanxu, JIA Qingxuan, GAO Xin, WANG Yifan. A Decoupled Force Feedback Haptic Device Based on Interaction Force Signal. ROBOT, 2014, 36(4): 477-484. DOI: 10.13973/j.cnki.robot.2014.0477.

摘要

针对空间遥操作任务设计一种新型的大行程力反馈手控器，该装置3个方向的运动相互解耦．对雅可比矩阵进行分析，该装置的速度传递和力传递具有各向同性．在此基础上提出一种基于接触力的速度控制方法．通过实时获取各轴的力传感器数据，得到操作者施加力的方向与大小．然后求解与期望力的差值，将其作为PID控制器的输入量．通过PID控制器控制电机速度，给出合适的控制量，驱动电机完成运动．制作实验样机进行测试，结果表明，上述方法能达到较好的控制效果．

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关键词 ：手控器, 解耦式机构, 各向同性, 接触力控制, PID控制器

Abstract：

A force feedback haptic device with a large workspace is developed for space teleoperation tasks, and the motion of the device in 3 directions is decoupled from each other. The velocity isotropic index and force isotropic index are analyzed through the Jacobin matrix. On this basis, a velocity control algorithm based on interaction force signal is proposed. Force signals for each axis are acquired in real time to estimate the magnitude and the direction of force exerted by the operator. And then the difference between the desired force and the acquired interaction force data is taken as the input of the PID (proportional-integral-derivative) controller. The PID control algorithm is used to control the motor speed. A proper data is given to control the motor to accomplish the movement. Experiments are conducted on a prototype mechanism. The results show that the proposed method can achieve better control results.

Key words： haptic device decoupling mechanism isotropic index interaction force control PID controller

收稿日期: 2013-08-22 录用日期: 2014-03-26

ZTFLH:

TP242

基金资助:

中央高校基本科研业务费专项资金资助项目（2013RC0401，2012RC0504）；国家973计划资助项目（2013CB733000）

通讯作者: 白杨，baiyangbupt@163.com E-mail: baiyangbupt@163.com

作者简介: 宋荆洲（1976-），男，博士，副教授，硕士生导师．研究领域：机器人遥操作技术，虚拟现实技术．
白杨（1988-），男，硕士生．研究领域：虚拟现实技术，智能机器人技术．
孙汉旭（1960-），男，博士，教授，博士生导师．研究领域：空间机器人技术，虚拟现实技术．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0477 或 https://robot.sia.cn/CN/Y2014/V36/I4/477

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