A remote operation control method based on knob type force feedback hand controller and mechanical arm

Abstract

The invention discloses a hand controller based on rotary knob type force feedback. The hand controller based on the knob type force feedback comprises a base plate, a torque sensor, a shell, a sensor flange, a distance sleeve, an encoder, a motor seat plate, a motor and a switch rotary knob provided with a fine-coarse adjustment switch; the shell is fixedly connected with the base plate, and enclosed space is defined; the distance sleeve is fixedly connected between the motor seat plate and the sensor flange, installing space is defined by the motor seat plate and the sensor flange, the torque sensor is fixedly connected to the bottom of the sensor flange, the encoder is installed in the installing space, a shell body of the encoder is fixedly connected to the bottom of the motor seat plate, the motor is fixedly connected to the top face of the motor seat plate, one end of a motor output shaft penetrates through the motor seat plate and is fixedly connected with a coded disk of the encoder, the switch rotary knob is located at the outer side of the shell, and a rotary knob of the switch rotary knob is connected with the other end of the motor output shaft. By means of the hand controller based on the rotary knob type force feedback and a mechanical arm remote operating control method, the mechanical arm can be accurately controlled to work in complex environment.

Description

technical field [0001] The invention belongs to the technical field of remote operation, and specifically relates to a knob-based force feedback hand controller and a remote operation control method of a mechanical arm, which can remotely control the operation of the mechanical arm. Background technique [0002] The hand controller is a device for human-computer interaction and position measurement. In recent years, advanced hand controllers have added force feedback, which can provide a high degree of force presence. This makes the hand controller more widely used in the fields of nuclear industry, aerospace, ocean exploration and biomedicine. According to the structural relationship of the master-slave manipulator, the hand controller can be divided into two types: homogeneous and heterogeneous. If the master robot arm and the slave robot arm have the same structure and degrees of freedom, when the master robot arm moves, the slave robot arm moves in the same proportion,...

AI Technical Summary

Problems solved by technology

However, the isomorphic hand controller is relatively bulky and bulky, and requires a relatively high movement space, making it inconvenient to operate.

The design of heterogeneous manipulators is relatively difficult, the structure and motion correspondence between the master and slave arms is not clear, and the operator's sense of force and presence is not good.

When operating with a heterogeneous hand controller, not only complex algorithms are required to realize the motion mapping between the remote robot arm and the local hand controller, but also due to the high degree of friction and motion and force coupling between the joints of the hand controller, the operation Complicated and less precise

In addition, both types of hand controllers need to fix the human hand on a relatively complicated device. When the control of the device fails, the human hand is not easy to get out quickly and is vulnerable to injury.

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