Testing device and method for force feedback function of teleoperation equipment

Abstract

The invention provides a testing device and method for a force feedback function of teleoperation equipment. The testing device comprises a master hand equipment force feedback testing calibration platform and a slave hand equipment force sensing testing calibration platform, and a master hand performance testing calibration method, a slave hand performance testing calibration method and a master-slave hand online testing method. The master hand equipment force feedback testing calibration platform comprises a master hand platform base, a master hand six-dimensional force sensor, a master handsensor fixing flange, a master hand sensor input flange, a manual sliding table, a sliding table bracket and a master hand handle hoop; and the master hand six-dimensional force sensor is connected with the master hand handle hoop through the master hand sensor input flange. The slave hand equipment force sensing testing calibration platform comprises a slave hand platform base, a slave hand six-dimensional force sensor and a slave hand operation object; and the slave hand six-dimensional force sensor is fixed on the slave hand platform base, and the input end of the slave hand six-dimensional force sensor is fixedly provided with the slave hand operation object through a sensor connecting flange. According to the testing device and method, the closed-loop control performance test of force feedback is realized.

Description

technical field [0001] The present invention relates to the technical field of force feedback, in particular to a test device and method for the force feedback function of a remote operation device, in particular to a test platform and a test method for the force feedback function of a master-slave remote operation device. Background technique [0002] Teleoperation technology refers to the technology in which the operator manipulates the remote machine equipment for operation. The basic principle is that the operator directly manipulates the movement of the master device (also called the master hand), and the controller sends the movement information of the master device to the slave device (also called the slave hand) through wireless or wired communication. The remote operation tasks are completed by synchronously following the movement of the master device. The operating environment where the slave device is located generally has visual information fed back to the opera...

AI Technical Summary

Problems solved by technology

[0006] Patent document CN103753519A discloses a platform mechanism for the calibration method of a three-degree-of-freedom force feedback hand controller, which can realize the test calibration of a specific self-made main hand device, but its three-degree-of-freedom mechanism has a complex structure and poor stability, which affects the calibration accuracy , and its versatility is poor, it cannot calibrate the force feedback equipment widely used in the market, and does not provide a calibration device and method corresponding to the slave equipment

Patent document CN109632173A discloses a calibration device for three-dimensional force accuracy at the end of a multi-degree-of-freedom force feedback device, which can realize test calibration for three-dimensional force feedback devices, but the device is only for calibration of three-dimensional force feedback devices, and is not suitable for six-dimensional devices. Moreover, the device uses six force sensors to collect data separately, coupled with each other, the accuracy is difficult to guarantee, and the design cost is high, the test process is complicated, and there is no calibration device and method corresponding to the slave equipment

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