Handheld force feedback device and method for realizing force sense reproduction using the device

Abstract

The invention discloses a handheld force feedback device and a force sense reproduction method using the same, and aims to solve the technical problem that an existing force feedback device is poor in practicability. According to the technical scheme, the handheld force feedback device comprises a mechanical device, a signal conditioning circuit, a data acquisition module, a microcontroller, a first signal output circuit and a second signal output circuit. Force information of piezoelectric film sensors distributed on a rocking bar arranged on the mechanical device is measured, a rotation angle digital value, of a torque motor, on an encoder is recorded; and the signal of the rotation angle of the torque motor arranged on the mechanical device is sent to a far-end slave mechanical arm through the first signal output circuit, and therefore the location tracking of the slave mechanical arm is achieved. Voltage control regulation of the torque motor is achieved through the second signal output circuit according to a regulating variable obtained through PID control calculation. According to the handheld force feedback device and the force sense reproduction method using the same, force sense reproduction of long distance force signals can be achieved, an operator can have the sense of the same force signals by the long distance signals, and the practicability is high.

Description

technical field [0001] The invention relates to a hand-held force feedback device, and also relates to a method for realizing force sense reproduction by using the device. Background technique [0002] Underwater manipulator is an important equipment used by underwater vehicles in underwater exploration. Since the collection of underwater samples in deep sea exploration is mainly completed by underwater manipulators, underwater manipulators lack force perception and the operating objects of manipulators are uncertain. Sexuality, resulting in the problem of damage to the collected samples. The working environment of the underwater manipulator is complex, and it is generally completed with video assistance, but the water quality becomes muddy due to the movement of the manipulator or its carrier, which affects the operation of the manipulator. Therefore, the master-slave teleoperation system with force perception is a development research direction. The force feedback device...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of existing force feedback devices, the present invention provides a hand-held force feedback device and a method for realizing force sense reproduction using the device

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