Intelligent force feedback handle and control method thereof

Abstract

The invention discloses an intelligent force feedback handle and a control method thereof. The handle comprises an X-axis rotation part, a Y-axis rotation part, and a Z-axis rotation part. The X-axis rotation part comprises an inner frame and an X-axis driving device for driving the inner frame to rotate about the X axis. The Y-axis rotation part comprises a center cylinder and a Y-axis driving device for driving the center cylinder to rotate about the Y axis. The Z-axis rotation part comprises a handle operation lever and a Z-axis driving device for driving the handle operation lever to rotate about the Z axis. The center cylinder is rotationally arranged in a hollow frame body of the inner frame, and the rotation direction of the center cylinder and the rotation direction of the inner frame are perpendicular to each other. The handle operation lever is rotationally arranged inside the center cylinder around the axis, and the handle operation lever and the center cylinder are coaxial. The size of the handle is optimized, and the method achieves an intelligent damping control effect and an automatic reset effect.

Description

technical field [0001] The invention is an intelligent three-degree-of-freedom force feedback device, which is mainly used in the field of robot control and virtual reality in aerospace, deep sea or environment harmful to people, and can measure the rotation angle and provide force sense presence. Background technique [0002] With the widespread application of interactive teleoperation robots and virtual reality technology, especially some new practical technologies such as distance education, telemedicine, and virtual reality technology that have a strong dependence on telepresence robot technology in recent years, This makes high-performance man-machine interface devices particularly important. As a common human-machine interface, the force feedback control device can collect the pose information of the operator's arm as a control command, generate control commands to control the movement of the remote operation object or virtual object, and realize the force information ...

AI Technical Summary

Problems solved by technology

The series type force feedback device is characterized by an open chain structure, which has poor stiffness and is easy to deform, and is not easy to generate a large feedback force; the parallel type force feedback device has low inertia and has great advantages in stiffness, precision, and reverse drive capability. But the disadvantage is that the volume is relatively large; while the hybrid force feedback device combines the advantages of series and parallel, and the volume is relatively large

Many force feedback manipulation devices currently proposed do not have intelligent control effects, for example, they cannot realize automatic reset

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