Design Of Parallel Force Feedback Hand Controller System For Teleoperation

As an important human-computer interaction device in the remote operating system,the hand controller is an intermediate information medium that the operator perceives the external operating environment and completes the control of the remote robot,and its performance is directly related to the stability and control accuracy of the teleoperation system.Telepresence is the core content of interactive technology in remote operating system,the purpose of which is to enable operators to feel the environmental information of remote field(including vision,haptics,etc.)in real time,and to help the operator to make accurate judgment on the work carried out,so as to effectively complete the remote operation task.Based on the basic requirements of remote operating system,a three-DOF force feedback hand controller based on delta parallel mechanism is designed in this paper,and the mechanism of the adversary controller is analyzed by geometry respectively,and the coordinates of the end position can be calculated according to the displacement of the slider on the three linear rails.In this paper,the static mechanics and kinetic model of the hand controller are analyzed,the gravity compensation method of the active mechanism is studied,and the gravity compensation model of the hand controller is established.The hand controller features large stroke,low inertia,high stiffness and gravity compensation.This paper designs the hardware control system of the hand controller,including the circuit and control system software.The acquisition of the photoelectric encoder signal and the control of the DC motor are realized for the measurement of the end position and the force feedback to the end,respectively.The core controller of the underlying hardware adopts STM32+FPGA architecture,STM32 is used as the main controller,FPGA is used as the coprocessor to collect encoder signals and control DC motor drive;STM32 and FPGA use FSMC for data interaction.The PC software adopts the modular design idea,and separately designs the debugging control software for communication with the lower computer and the virtual scene based on the CHAI3 D platform.The data sharing is realized by memory mapping between the two,thereby connecting the hand controller with the CHAI3 D software platform,which improves the scalability of the software.In this paper,the measurement calibration system of the hand controller is also designed.The calibration platform is built by high-precision electronically controlled displacement platform,and the corresponding calibration experiment is designed.The position of the opponent controller is measured and calibrated,and the repeated experimental data analysis is carried out to verify whether it meets the requirements.