Operation counter-force simulation and control system for remote operation system

Abstract

The invention discloses an operation counter-force simulation and control system for a remote operation system. The operation counter-force simulation and control system comprises an operation mechanism, a position sensor, a force sensor, a counter-force simulation mechanism, a power driver and a controller, and is characterized in that the position sensor and the force sensor are respectively used for detecting current operation displacement and operation force of the operation mechanism; the controller receives signals from the position sensor and the force sensor, realizes calculation of the operation counter-force, a counter-force simulation control algorithm and an instruction force closed-loop control and outputs a voltage control signal to the power driving module to simulate the operation counter-force. On the premise of no dependency on an execution mechanism of the remote operation system, by the design of the counter-force simulation control algorithm of the operation mechanism, real simulation of any operation counter-force including friction force with any amplitude value can be realized.

Description

technical field [0001] The invention belongs to the technical field of mechanical manipulation, and in particular relates to the manipulation reaction force simulation technology of a remote manipulation system. Background technique [0002] Remote control systems are widely used in industrial production and daily life, such as remote surgery, remote robot control, and wire-control technology applied to vehicles such as automobiles and airplanes. The remote control system usually includes a control mechanism and an executive mechanism. The control mechanism acts as an interface that directly interacts with the operator. In addition to receiving the operator's manipulation instructions, it also serves to provide the operator with the necessary control reaction force. To enhance the operator's sense of presence. [0003] The control mechanism is usually equipped with a position sensor and a force (torque) sensor, as well as a counter force simulation mechanism to provide the ...

AI Technical Summary

Problems solved by technology

The first method is based on the actual actuator, and its adjustability to the simulation of the reaction force is often greatly reduced, and it cannot realize arbitrary simulation of the control force characteristics; while the system model based on the second method often includes a friction model. When simulating the control reaction force, due to the non-linear characteristics of the friction model, problems such as force (torque) vibration of the control mechanism, system oscillation, and slow system response speed will often be caused, which will have a negative impact on the operator's control experience

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