Design And Application Of A New Type Of Force Feedback Controller

In recent years,with the continuous development of robot technology,virtual reality technology and wireless communication technology,the scope of application of force feedback human-computer interaction technology has been expanding.Force feedback technology has played an important role in virtual reality and other fields,which is an important part of the multi-sensory feedback human-machine interaction technology.The operator interacts with the virtual environment through the force feedback device and transmits the operator intention to the virtual environment or the remote robot to perform specific tasks,at the same time,the force feedback device feeds back the force sense information of the virtual environment or the remote robot to the operator,and provides the high-field feeling.As the interface of man-machine interaction system,the performance of force feedback device determines the security,accuracy and reality of man-machine interaction system.The force feedback hand controller is researched and two kinds of force feedback hand controller systems with different application directions are designed.Firstly,aiming at the application of manipulator control system in the field of teleoperation,a virtual humancomputer interaction system based on the hybrid seven-degree-of-freedom force feedback controller is designed,the control of the virtual manipulator is verified by the virtual grasping experiment,which is compared with the feedback system without force,and the control of the virtual manipulator is verified by the virtual grasping experiment,the man-machine interaction system based on the force feedback controller greatly improves the operation accuracy and safety.In order to further study the application of force feedback hand controller technology in the field of upper limb rehabilitation training,a new type of desktop two-degree-of-freedom force feedback hand controller based on the structure design of the parallel force feedback hand controller is designed,the structure design,position calculation,statics analysis,hardware and software design and performance evaluation of the two-degree-of-freedom force feedback controller are studied and analyzed.In the aspect of mechanism design,the manufacture of a new type of two-degree-of-freedom force feedback hand-controller,geometric position calculation,static modeling and analysis are completed,in the hardware control system,the end position calculation of the force feedback controller,the closed-loop control of the DC motor and the communication between the upper and lower computers are completed,a variety of virtual scene design and active and passive training mode design for upper limb rehabilitation training are established.The main research work and innovation are as follows: Firstly,two kinds of force feedback hand controllers for teleoperation and upper limb rehabilitation are designed,by means of parallel connecting Rod,Rhombus drawing structure and series end structure,the mechanical decoupling of the force feedback controller is realized,the complexity of software solution is reduced,and the precision of solution is improved.Secondly,two working modes of active impedance training and passive traction motion are designed for the two-degree-of-freedom hand controller,in the passive traction mode,the position-velocity-current three-loop cascade PID control algorithm is adopted to control the DC motor with different degrees of freedom The active impedance training mode adopts the current closed-loop control mode,and realizes the force feedback manual controller damping force training.Thirdly,software design,uses the upper computer debugging software and the virtual scene software separate design.The PC debugging software can provide four working modes,support the connection of the two-handed hand controller system and the extension of various virtual scene software platform,and can debug the hand controller system and virtual scene offline.In the part of virtual scene software,a virtual manipulator grasping scene and six virtual game scenes of upper limb rehabilitation training are designed,which can achieve better human-computer interaction.Fourthly,in the aspect of performance evaluation,a three-dimensional position calibration platform and a threedimensional force calibration platform are built to calibrate the three-dimensional position and force at the end of the force feedback controller.