A dual-robot arm-based force feedback mechanism and high-precision calibration device and method

Abstract

A kind of force feedback mechanism based on double mechanical arm and high-precision calibration equipment and method, by unified modeling calibration object and working condition, realize two kinds of functions: by mechanical interface, the output end of the motor to be calibrated torque is controlledly connected with end sensor, exert torque / current excitation and collect reference output, fitting obtains instruction / current-output torque calibration curve and compensation parameter;By replacing interface connection two finger clamps, dexterous hand and other end actuators, collect six-dimensional mechanical sequence of typical teleoperation actions such as capture, screwing, plugging, extract action characteristics and compare with safety threshold to output force evaluation results;Calibration equipment and calibration method realize the integration of motor calibration and action force detection under six-degree-of-freedom high-precision force / torque measurement, cover real teleoperation typical working condition, calibration precision is high, wide range of adaptation range and interface universality is strong.

Description

Technical Field

[0001] This invention relates to a force feedback mechanism based on dual robotic arms and a high-precision calibration device and method, belonging to the field of test and calibration technology related to robot teleoperation and human-machine interaction. It is used for mechanical calibration and force feedback performance verification of remote operation terminals and torque motors, as well as mechanical characteristic evaluation and safety threshold detection of typical teleoperation actions such as grasping, twisting, and plugging. Background Technology

[0002] Teleoperation systems typically consist of operator input at the near end, remote execution, and multimodal feedback. Operators use near-end devices such as hand controllers and joysticks to drive remote actuators to complete tasks, relying on visual / force feedback for a sense of presence and precise control. To ensure safety and mission accuracy during teleoperation, reliable force / torque calibration of the remote operating terminal and its key actuators (especially torque motors) is necessary to ensure a consistent and traceable quantitative relationship between output and feedback.

[0003] Existing force calibration platforms are mostly geared towards single-degree-of-freedom or low-degree-of-freedom actuators, and calibration is mostly static or quasi-static, making it difficult to cover the six-degree-of-freedom force / torque space. They also struggle to obtain true mechanical properties under complex operational conditions such as grasping, twisting, insertion, assembly, disassembly, and tool switching. Furthermore, traditional calibration devices often lack systematic integration with multi-degree-of-freedom robotic arms, replaceable mechanical interfaces, and host computer calibration software, resulting in a disconnect between calibration results and actual remote operation processes, making it difficult to support mission-level mechanical testing and verification.

[0004] Therefore, it is necessary to build a comprehensive platform that integrates a "seven-degree-of-freedom force feedback robotic arm, a high-precision force calibration system, a replaceable mechanical interface, and human-machine interaction software," so that it can not only perform high-precision calibration of torque motors, but also quantitatively detect and evaluate whether the force applied to typical teleoperated actions is reasonable. Summary of the Invention

[0005] The technical problem solved by this invention is that, in the current technology, the existing calibration equipment has insufficient degree of freedom and working condition coverage, and it is difficult to perform unified calibration and force detection of torque motors / teleoperation terminals under real teleoperation conditions. This invention proposes a force feedback mechanism based on dual robotic arms and a high-precision calibration device and method.

[0006] The present invention solves the above-mentioned technical problem through the following technical solution: A force feedback mechanism and high-precision calibration device based on dual robotic arms includes a seven-degree-of-freedom robotic arm, a six-dimensional force and torque sensor, a test bench, a mobile chassis, and an end effector, wherein: The test bench is set at one end of the mobile chassis. The torque motor to be calibrated is fixed on the test bench of the mobile chassis. The mobile chassis drives the test bench to perform displacement in a specified direction and speed in the plane according to the calibration task requirements. The test bench is equipped with an end effector for connecting to and fixing the torque motor to be calibrated. The end effector is adapted to the torque motor to be calibrated. A seven-degree-of-freedom robotic arm is set at the other end of the mobile chassis via a mounting bracket. The seven-degree-of-freedom robotic arm is equipped with a six-dimensional force and torque sensor. An end effector is set at the end of the seven-degree-of-freedom robotic arm. The six-dimensional force and torque sensor is driven by the seven-degree-of-freedom robotic arm and synchronously collects the output parameter information of the torque motor to be calibrated for equipment calibration. The seven-degree-of-freedom robotic arm drives the end effector to adjust the position constraint of the torque motor to be calibrated.

[0007] The end-effector mechanical interface is used to rigidly connect the output end of the torque motor to be calibrated to the end effector to form a stable force transmission channel. The torque motor to be calibrated receives a preset torque command or drive current excitation sequence through the end-effector mechanical interface and then acts. The six-dimensional force and torque sensor collects the actual output force and torque of the motor through the end-effector mechanical interface. The calibration of the torque motor to be calibrated is achieved by fitting and compensating the actual output force and torque of the motor to correct and verify the consistency of the actual output force and torque.

[0008] The calibration conditions of the motor to be calibrated are adjusted according to the preset torque command or drive current excitation sequence. The seven-degree-of-freedom robotic arm, mobile chassis and end effector are controlled by the calibration console. The preset torque command or drive current excitation sequence received by the motor to be calibrated is issued by the calibration console. The seven-degree-of-freedom robotic arm and end effector are controlled by the calibration console. The actual output force and torque of the motor to be calibrated, which are collected by the six-dimensional force and torque sensors, are transmitted back to the calibration console for fitting and compensation processing.

[0009] When the motor to be calibrated is replaced with a remote operation terminal according to the equipment calibration requirements, the six-dimensional force and torque sequence of typical remote operation actions of the remote operation terminal is collected without the need for additional excitation commands. This sequence is used to generate an action force evaluation result in the calibration control console for analysis and processing.

[0010] The seven-degree-of-freedom robotic arm has a range of degrees of freedom including a three-degree-of-freedom shoulder joint, a two-degree-of-freedom elbow joint, and a two-degree-of-freedom wrist joint. It is used to drive the end effector to perform independent position and posture adjustment. After the end effector is adjusted, the relative position and posture information between it and the torque motor to be calibrated meets the equipment calibration requirements.

[0011] The seven-degree-of-freedom robotic arm is configured as a symmetrical robotic arm. The working mode of the seven-degree-of-freedom robotic arm under the control of the calibration console is determined according to the calibration conditions of the torque motor to be calibrated, including single-arm calibration conditions, dual-arm synchronous calibration conditions, and dual-arm collaborative remote operation evaluation conditions. Under the dual-arm synchronous calibration conditions, the six-dimensional force and torque data of the end effector corresponding to the seven-degree-of-freedom robotic arms on both sides are acquired during the movement process, which is used to realize the correction and consistency verification of the actual output force and torque of the motor.

[0012] The force assessment results are obtained by extracting the action-level characteristics of the collected six-dimensional force and torque sequences and comparing them with preset safety thresholds or performance thresholds. The force assessment results are derived based on the comparison results, including whether the force is too large, too small, or reasonable.

[0013] The end-effector mechanical interface is a replaceable mechanical interface used to adapt to the dexterous hand, two-finger gripper, or other task tool end of the end effector. When the torque motor to be calibrated is replaced with a remote operation terminal according to the equipment calibration requirements, the remote operation terminal performs any or a combination of actions such as grasping, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task mode. During the action, the time series of the three-dimensional force and three-dimensional torque of the end effector are continuously recorded by the six-dimensional force and torque sensors to form an action-level mechanical characteristic curve. By collecting the curve index of the action-level mechanical characteristic curve, the collected information is compared with the preset safety performance threshold, and the remote operation action evaluation result is output, including whether the action force is too large, the action force is too small, or the action force is reasonable.

[0014] After inputting the motion force assessment results and remote operation motion assessment results into the calibration console for visualization and archiving, exit the calibration mode and perform a complete reset of the calibration equipment until the next target to be tested enters the test bench.

[0015] A calibration method based on a calibration device, comprising: Perform initialization self-test on the seven-DOF robotic arm, the six-dimensional force and torque sensors, and the communication links between each individual device and the external calibration control console; Fix the object to be calibrated on the test bench and select the corresponding end mechanical interface according to the type of the object to be calibrated; Determine the type of the object to be calibrated. When the object to be calibrated is a torque motor, the output end of the torque motor is rigidly connected to the six-dimensional force and torque sensor on the seven-degree-of-freedom robotic arm through the end mechanical interface to form a stable force and torque transmission channel. The calibration control console inputs a preset torque command or drive current excitation sequence to the torque motor to be calibrated. The drive current excitation sequence adopts typical forms such as step or sine to cover the motor's working range. When the object to be calibrated is a remote operation terminal, the motor calibration interface is removed and replaced with a mechanical interface that matches the target end effector. The dexterous hand, two-finger gripper or other remote operation end tool is connected to the target end effector in a controlled manner. The operator or calibration control console performs any or a combination of actions such as grabbing, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task. During the action, the time series of the end three-dimensional force and three-dimensional torque executed by the end is continuously recorded by the six-dimensional force and torque sensor and an action-level mechanical characteristic curve is formed. The system collects and evaluates the mechanical characteristic curves of the action level or the output parameter information of the torque motor to be calibrated. The evaluation results are then visualized and stored in the calibration console. The calibration process is then exited and the system waits for the next target to be calibrated to be in place.

[0016] The advantages of this invention compared to the prior art are: (1) The present invention provides a force feedback mechanism based on dual robotic arms and a high-precision calibration device and method, which, relying on a seven-degree-of-freedom robotic arm and a six-dimensional force and torque sensor, can complete the mechanical calibration and motion force detection of the remote terminal / motor in a six-degree-of-freedom space, breaking through the applicable scope of traditional low-degree-of-freedom calibration platforms and realizing the integration of high-degree-of-freedom calibration and detection; (2) This invention supports the acquisition of force / torque characteristics of six typical actions, such as capture, twisting, plugging and unplugging, assembly, disassembly, and tool switching, so that the detection results are consistent with the real task and can be directly used to determine whether the force of the action is too large or too small, and can cover the typical working conditions of real teleoperation. (3) The torque motor calibration equipment used in this invention has high calibration accuracy and wide applicability: Through benchmark measurement and curve identification, a reliable command / current-output torque mapping can be established for torque motors in the range of 0.1 N·m to 10 N·m, which improves the consistency and controllability of subsequent remote operation force feedback. The end adopts a replaceable mechanical interface and quick-release connection structure, which can be adapted to different types of calibration equipment and tool ends, reducing the cost of cross-equipment calibration and testing. The interface is universal and the equipment is highly adaptable. (4) This invention can perform unified calibration and force detection on torque motors / teleoperation terminals under real teleoperation conditions, realize accurate calibration of torque motors based on six degrees of freedom force measurement, and output the mechanical characteristics and safety assessment results of teleoperation actions. It can not only complete the high-precision calibration of torque motors, but also quantitatively detect and evaluate whether the force of typical teleoperation actions is reasonable. Attached Figure Description

[0017] Figure 1 This invention provides a flowchart of calibration using a calibration device; Figure 2 The force feedback mechanism and high-precision calibration equipment provided by this invention are shown in the figure. Figure 3 A schematic diagram of the force evaluation results for a typical teleoperation action provided by the present invention; Figure 4 This is a schematic diagram of the torque motor calibration fitting results provided by the present invention. Detailed Implementation

[0018] A force feedback mechanism based on dual robotic arms, along with a high-precision calibration device and method, achieves two functions through unified modeling of the calibration object and operating conditions: First, by controlling the connection between the output of the motor to be calibrated and the end effector sensor via a mechanical interface, torque / current excitation is applied and a reference output is collected. The command / current-output torque calibration curve and compensation parameters are then fitted. Second, by changing the interface to connect end effectors such as two-finger grippers or dexterous hands, six-dimensional mechanical sequences of typical teleoperation actions such as grasping, twisting, and inserting / removing are collected. Action characteristics are extracted and compared with safety thresholds to output force evaluation results. The calibration device and method integrate motor calibration and action force detection under six-degree-of-freedom high-precision force / torque measurement, covering typical real teleoperation operating conditions. It features high calibration accuracy, a wide adaptability range, and strong interface versatility.

[0019] Based on a force feedback mechanism with dual robotic arms and a high-precision calibration device, the equipment structure is designed as follows: It includes a seven-DOF robotic arm, a six-dimensional force and torque sensor, a test bench, a mobile chassis, and an end effector, among which: The test bench is set at one end of the mobile chassis. The torque motor to be calibrated is fixed on the test bench of the mobile chassis. The mobile chassis drives the test bench to perform displacement in a specified direction and speed in the plane according to the calibration task requirements. The test bench is equipped with an end effector for connecting to and fixing the torque motor to be calibrated. The end effector is adapted to the torque motor to be calibrated. A seven-degree-of-freedom robotic arm is set at the other end of the mobile chassis via a mounting bracket. The seven-degree-of-freedom robotic arm is equipped with a six-dimensional force and torque sensor. An end effector is set at the end of the seven-degree-of-freedom robotic arm. The six-dimensional force and torque sensor is driven by the seven-degree-of-freedom robotic arm and synchronously collects the output parameter information of the torque motor to be calibrated for equipment calibration. The seven-degree-of-freedom robotic arm drives the end effector to adjust the position constraint of the torque motor to be calibrated.

[0020] The end effector mechanical interface is used to rigidly connect the output end of the torque motor to be calibrated to the end effector to form a stable force transmission channel. The torque motor to be calibrated receives a preset torque command or drive current excitation sequence through the end effector mechanical interface and then acts. The six-dimensional force and torque sensor collects the actual output force and torque of the motor through the end effector mechanical interface. The calibration of the torque motor to be calibrated is achieved by fitting and compensating the actual output force and torque of the motor to correct and verify the consistency of the actual output force and torque.

[0021] The calibration conditions of the motor to be calibrated are adjusted according to the preset torque command or drive current excitation sequence. The seven-degree-of-freedom robotic arm, mobile chassis and end effector are controlled by the calibration console. The preset torque command or drive current excitation sequence received by the motor to be calibrated is issued by the calibration console. The seven-degree-of-freedom robotic arm and end effector are controlled by the calibration console. The actual output force and torque of the motor to be calibrated, which are collected by the six-dimensional force and torque sensors, are fed back to the calibration console for fitting and compensation processing.

[0022] When the calibration torque motor is replaced with a remote operation terminal according to the equipment calibration requirements, the six-dimensional force and torque sequence of typical remote operation actions of the remote operation terminal is collected without the need for additional excitation commands. This sequence is then used to generate action force evaluation results in the calibration control console for analysis and processing.

[0023] The seven-degree-of-freedom robotic arm has a range of degrees of freedom including a three-degree-of-freedom shoulder joint, a two-degree-of-freedom elbow joint, and a two-degree-of-freedom wrist joint. It is used to drive the end effector to perform independent position and posture adjustment. After the end effector is adjusted, the relative position and posture information between it and the torque motor to be calibrated meets the equipment calibration requirements.

[0024] The seven-degree-of-freedom robotic arm is set as a symmetrical robotic arm. The working mode of the seven-degree-of-freedom robotic arm is determined according to the calibration conditions of the motor to be calibrated, including single-arm calibration conditions, dual-arm synchronous calibration conditions, and dual-arm collaborative remote operation evaluation conditions. Under the dual-arm synchronous calibration conditions, the six-dimensional force and torque data of the end effector corresponding to the seven-degree-of-freedom robotic arms on both sides are acquired during the movement process, which is used to realize the correction and consistency verification of the actual output force and torque of the motor.

[0025] The motion force assessment results are obtained by extracting motion-level characteristics from the collected six-dimensional force and torque sequences and comparing them with preset safety or performance thresholds. Based on the comparison results, the motion force assessment results are obtained, including motion force being too large, motion force being too small, and motion force being reasonable.

[0026] The end-effector mechanical interface is a replaceable mechanical interface used to adapt to the dexterous hand, two-finger gripper, or other task tool end of the end effector. When the torque motor to be calibrated is replaced with a remote operation terminal according to the equipment calibration requirements, the remote operation terminal performs any or a combination of actions such as grasping, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task mode. During the action, the time series of the three-dimensional force and three-dimensional torque of the end effector are continuously recorded by the six-dimensional force and torque sensors to form an action-level mechanical characteristic curve. By collecting the curve index of the action-level mechanical characteristic curve, the collected information is compared with the preset safety performance threshold, and the remote operation action evaluation result is output, including whether the action force is too large, the action force is too small, or the action force is reasonable.

[0027] After inputting the motion force assessment results and remote operation motion assessment results into the calibration console for visualization and archiving, exit the calibration mode and perform a complete reset of the calibration equipment until the next target to be tested enters the test bench.

[0028] The calibration method implemented by the calibration equipment includes the following steps: Perform initialization self-test on the seven-DOF robotic arm, the six-dimensional force and torque sensors, and the communication links between each individual device and the external calibration control console; Fix the object to be calibrated on the test bench and select the corresponding end mechanical interface according to the type of the object to be calibrated; Determine the type of the object to be calibrated. When the object to be calibrated is a torque motor, the output end of the torque motor is rigidly connected to the six-dimensional force and torque sensor on the seven-degree-of-freedom robotic arm through the end mechanical interface to form a stable force and torque transmission channel. The calibration control console inputs a preset torque command or drive current excitation sequence to the torque motor to be calibrated. The drive current excitation sequence adopts typical forms such as step or sine to cover the motor's working range. When the object to be calibrated is a remote operation terminal, the motor calibration interface is removed and replaced with a mechanical interface that matches the target end effector. The dexterous hand, two-finger gripper or other remote operation end tool is connected to the target end effector in a controlled manner. The operator or calibration control console performs any or a combination of actions such as grabbing, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task. During the action, the time series of the end three-dimensional force and three-dimensional torque executed by the end is continuously recorded by the six-dimensional force and torque sensor and an action-level mechanical characteristic curve is formed. The system collects and evaluates the mechanical characteristic curves of the action level or the output parameter information of the torque motor to be calibrated. The evaluation results are then visualized and stored in the calibration console. The calibration process is then exited and the system waits for the next target to be calibrated to be in place.

[0029] The following description, in conjunction with the accompanying drawings and preferred embodiments, provides further details: In the current embodiment, the system comprises a force feedback mechanism based on a dual-arm manipulator and a high-precision calibration device. It mainly includes a force feedback mechanism, a calibration device, a high-precision force calibration device, and a human-machine interface console. The force feedback mechanism is a seven-degree-of-freedom manipulator connected in a shoulder-elbow-wrist sequence, with a six-dimensional force and torque sensor installed at its end, and connected to the object to be calibrated via a replaceable mechanical interface. The calibration device is used to constrain and fix the position of the object to be calibrated, ensuring that the output end of the object to be calibrated forms a controlled force / torque transmission connection with the six-dimensional force and torque sensor. The high-precision force calibration device is used to collect input and measured output data of the object to be calibrated under different working conditions and generate calibration or evaluation results. The human-machine interface console is used for mode selection, command sending and control, parameter configuration, data visualization, and result storage, and has at least the following two types of functions: A) When the object to be calibrated is a torque motor, apply a torque command or drive current excitation to the torque motor and collect its measured output torque to achieve torque motor calibration; B) When the object to be calibrated is a teleoperation terminal and its end effector, a six-dimensional force / torque sequence of typical teleoperation actions is collected without the need for additional excitation commands, and the action force evaluation results are output.

[0030] The seven-degree-of-freedom robotic arm includes a three-degree-of-freedom joint in the shoulder, a two-degree-of-freedom joint in the elbow, and a two-degree-of-freedom joint in the wrist, so as to achieve independent adjustment of the end position and posture, thereby adapting to the connection and measurement of the object to be calibrated under different spatial postures.

[0031] The replaceable mechanical interface is a quick-release modular structure, including at least a motor interface module for torque motor calibration and an end effector interface module for remote operation action evaluation. The end effector interface module is adapted to a dexterous hand, two-finger gripper or other task tool end.

[0032] The high-precision force calibration equipment and the human-machine interaction control console can be synchronously implemented through the calibration control console. It supports single-arm calibration, dual-arm synchronous calibration, and dual-arm collaborative remote operation evaluation conditions. Under dual-arm conditions, it can acquire six-dimensional force / torque data at the ends of the left and right arms respectively to form consistent calibration results or collaborative action evaluation results.

[0033] The motion force assessment results are obtained by extracting motion-level characteristics from the collected six-dimensional force / torque sequence and comparing them with preset safety or performance thresholds, and outputting assessment conclusions that the motion force is too large, too small, or reasonable.

[0034] like Figure 1 The diagram shows the mechanical calibration and evaluation process for a multi-degree-of-freedom teleoperated terminal, which is specifically executed as follows: (1) System preparation and object installation The force feedback mechanism and high-precision calibration equipment are activated to initialize and perform self-tests on the seven-DOF robotic arm, the six-dimensional force and torque sensors at the end effector, and the communication link with the host computer. Subsequently, the object to be calibrated is fixed on the test bench, and the corresponding end effector interface is selected according to the type of object. The end effector interface is a replaceable / universal structure, adaptable to different connection methods of torque motors, dexterous hands, or other end effectors, thus ensuring the device's compatibility with various types of calibration objects.

[0035] (2) Torque motor calibration section (requires excitation command) When the object to be calibrated is a torque motor, the output end of the torque motor is rigidly connected to the six-dimensional force and torque sensor at the end of the robotic arm through the general mechanical interface, forming a stable force / torque transmission channel. Subsequently, the host computer of the motor to be calibrated inputs a preset torque command or drive current excitation sequence to the motor. This excitation sequence can be in typical form such as a step or sine wave to cover the motor's operating range.

[0036] During the excitation process, the robotic arm maintains the output end posture and constraint stability, and the six-dimensional force and torque sensors synchronously collect the actual output torque of the motor as the benchmark measurement value. The "command / current - measured torque" data is fitted (e.g., polynomial or piecewise model) to obtain the motor calibration curve and compensation parameters, which are then used for torque correction and consistency verification in subsequent motor control.

[0037] (3) Evaluation of typical teleoperation force (no excitation command required) When the object to be evaluated is a remotely operated terminal and its typical operating actions, remove the motor calibration interface and replace it with a mechanical interface that matches the target end effector. Connect the dexterous hand, two-finger gripper or other remotely operated end tools to the end sensor of the robotic arm in a controlled manner.

[0038] In this section, no additional manual excitation commands are applied to the end effector. Instead, the operator or teleoperation system performs typical actions such as grasping, twisting, plugging / unplugging, assembling, disassembling, and tool switching according to the actual task. During the actions, six-dimensional force and torque sensors continuously record the time series of three-dimensional forces and torques at the end effector and form action-level mechanical characteristic curves. Then, the key indicators of the curves (such as peak force / peak torque, impact amount, duration, etc.) are compared with preset safety / performance thresholds, and an assessment conclusion is output indicating whether the action force is too large, too small, or reasonable. This is used for teleoperation action intensity detection and process verification.

[0039] (4) Saving results and exiting the mode The motor calibration curve, compensation parameters, and motion force evaluation results are visualized and stored in the human-computer interaction software; then the calibration / evaluation mode is exited, the system is reset, or the process of the next test object is started.

[0040] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

[0041] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A force feedback mechanism and high-precision calibration device based on dual robotic arms, characterized in that: It includes a seven-DOF robotic arm, a six-dimensional force and torque sensor, a test bench, a mobile chassis, and an end effector, among which: The test bench, mounted on a mobile chassis, is used to fix the motor to be calibrated at one end. The test bench is equipped with an end-effector mechanical interface for connecting to and fixing the motor to be calibrated. The end-effector mechanical interface is adapted to the motor to be calibrated. A preset torque command or drive current excitation sequence is input to the motor to be calibrated, and control commands are sent to the seven-degree-of-freedom robotic arm to carry out the calibration task. The mobile chassis drives the test bench to move in a specified direction and at a specified speed within a plane, according to the calibration task requirements; A seven-degree-of-freedom robotic arm is mounted on the other end of a mobile chassis via a mounting bracket. A six-dimensional force and torque sensor is installed on the seven-degree-of-freedom robotic arm to receive control commands sent by the test bench and drive the six-dimensional force and torque sensor according to the calibration task requirements. An end effector is installed at the end of the seven-degree-of-freedom robotic arm, and the seven-degree-of-freedom robotic arm drives the end effector to adjust the position constraint of the torque motor to be calibrated. A six-dimensional force and torque sensor is used to collect the output parameter information of the torque motor to be calibrated, driven by a seven-degree-of-freedom robotic arm, for equipment calibration.

2. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 1, characterized in that: The end mechanical interface is used to rigidly connect the output end of the torque motor to be calibrated to the end actuator to form a stable force transmission channel. The torque motor to be calibrated receives a preset torque command or drive current excitation sequence through the end mechanical interface and then acts. The six-dimensional force and torque sensor collects the actual output force and torque of the motor output by the motor through the end mechanical interface. The calibration of the motor to be calibrated is achieved by fitting and compensating the actual output force and torque of the motor to correct and verify the consistency of the actual output force and torque.

3. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 2, characterized in that: The calibration conditions of the motor to be calibrated are adjusted according to the preset torque command or drive current excitation sequence. The seven-degree-of-freedom robotic arm, mobile chassis and end effector are controlled by the calibration console. The preset torque command or drive current excitation sequence received by the motor to be calibrated is issued by the calibration console. The seven-degree-of-freedom robotic arm and end effector are controlled by the calibration console. The actual output force and torque of the motor to be calibrated, which are collected by the six-dimensional force and torque sensors, are transmitted back to the calibration console for fitting and compensation processing.

4. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 3, characterized in that: When the motor to be calibrated is replaced with a remote operation terminal according to the equipment calibration requirements, the six-dimensional force and torque sequence of typical remote operation actions of the remote operation terminal is collected without the need for additional excitation commands. This sequence is used to generate an action force evaluation result in the calibration control console for analysis and processing.

5. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 3, characterized in that: The seven-degree-of-freedom robotic arm has a range of degrees of freedom including a three-degree-of-freedom shoulder joint, a two-degree-of-freedom elbow joint, and a two-degree-of-freedom wrist joint. It is used to drive the end effector to perform independent position and posture adjustment. After the end effector is adjusted, the relative position and posture information between it and the torque motor to be calibrated meets the equipment calibration requirements.

6. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 3, characterized in that: The seven-degree-of-freedom robotic arm is configured as a symmetrical robotic arm. The working mode of the seven-degree-of-freedom robotic arm under the control of the calibration console is determined according to the calibration conditions of the torque motor to be calibrated, including single-arm calibration conditions, dual-arm synchronous calibration conditions, and dual-arm collaborative remote operation evaluation conditions. Under the dual-arm synchronous calibration conditions, the six-dimensional force and torque data of the end effector corresponding to the seven-degree-of-freedom robotic arms on both sides are acquired during the movement process, which is used to realize the correction and consistency verification of the actual output force and torque of the motor.

7. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 4, characterized in that: The force assessment result is obtained by extracting the action-level characteristics of the collected six-dimensional force and torque sequence and comparing them with a preset safety threshold or performance threshold. The force assessment result is derived based on the comparison result, including whether the force is too large, too small, or reasonable.

8. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 7, characterized in that: The end-effector mechanical interface is a replaceable mechanical interface used to adapt to the dexterous hand, two-finger gripper, or other task tool end of the end effector. When the torque motor to be calibrated is replaced with a remote operation terminal according to the equipment calibration requirements, the remote operation terminal performs any or a combination of actions such as grasping, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task mode. During the action, the time series of the three-dimensional force and three-dimensional torque of the end effector are continuously recorded by the six-dimensional force and torque sensors to form an action-level mechanical characteristic curve. By collecting the curve index of the action-level mechanical characteristic curve, the collected information is compared with the preset safety performance threshold, and the remote operation action evaluation result is output, including whether the action force is too large, the action force is too small, or the action force is reasonable.

9. The force feedback mechanism and high-precision calibration device based on dual robotic arms according to claim 8, characterized in that: After inputting the motion force assessment results and remote operation motion assessment results into the calibration console for visualization and archiving, exit the calibration mode and perform a complete reset of the calibration equipment until the next target to be tested enters the test bench.

10. A calibration method implemented by the calibration device according to claim 9, characterized in that... include: Perform initialization self-test on the seven-DOF robotic arm, the six-dimensional force and torque sensors, and the communication links between each individual device and the external calibration control console; Fix the object to be calibrated on the test bench and select the corresponding end mechanical interface according to the type of the object to be calibrated; The type of object to be calibrated is determined. When the object to be calibrated is a torque motor, the output end of the torque motor is rigidly connected to the six-dimensional force and torque sensor on the seven-degree-of-freedom robotic arm through the end mechanical interface to form a stable force and torque transmission channel. The calibration control console inputs a preset torque command or drive current excitation sequence to the torque motor to be calibrated. The drive current excitation sequence adopts a typical step or sine form to cover the motor's working range. When the object to be calibrated is a remote operation terminal, the motor calibration interface is removed and replaced with a mechanical interface that matches the target end effector. The dexterous hand, two-finger gripper or other remote operation end tool is connected to the target end effector in a controlled manner. The operator or calibration control console performs any or a combination of actions such as grabbing, twisting, plugging and unplugging, assembling, disassembling, and tool switching according to the actual task. During the action, the time series of the end three-dimensional force and three-dimensional torque executed by the end is continuously recorded by the six-dimensional force and torque sensor and an action-level mechanical characteristic curve is formed. The system collects and evaluates the mechanical characteristic curves of the action level or the output parameter information of the torque motor to be calibrated. The evaluation results are then visualized and stored in the calibration console. The calibration process is then exited and the system waits for the next target to be calibrated to be in place.

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