Research And Experiments Of A Master-slave Tele-micromanipulation System With Two-hands Force-sensing Feedback

Master-slave bilateral servo control technology is widely used in micro-operation and micro-assembly,such as rescue,strong radiation,micro / nano mechanical manipulation,the space and the deep-sea operation,etc,especially the situation which it is dangerous and human can not reach,it has broad prospects.A test platform of two hands master-slave teleoperation system with force feedback is designed and developed combined with the aid of binocular vision system to complete tele-micromanipulation.This paper focuses on the research of the system overall scheme,the multi degree of freedom master hand controller,the micro gripper of the integrated micro force sensor of the slave hand controller,the control method of the master-slave teleoperation,the platform construction and the experimental verification and so on.In the design of the master hand controller,according to the behavior and function allocation,both hands use different schemes.The kinematics and force transmission of the left master hand controller based on three DOF Delta mechanism is analyzed.The size of the space,force transmission capabilities and comprehensive performance index of right master hand controller with six DOF series-parallel mechanism is analyzed.And based on this,the optimized design is carried out.Besides the kinematics fast calibration problems of right master hand controller is researched.The mapping model is constructed between the end position errors and geometric errors by using vector chain method.The error compensation method is put forward.A three-dimensional with force sensing of micro gripper is developed and discussed in detail In order to realize the feedback force detection in the micro operation process.The structure design of the micro gripper,the finite element analysis and optimization analysis are mainly analyzed.The micro force sensor calibration test and micro operation test were carried out.Master-slave servo control technology is the key technology in teleoperation micro operation Including forward the slave position tracking and reverse the master force feedback tracking control.The slave position accurate tracking is using sliding mode control method.The nonlinear disturbance observer is designed in order to ensure to eliminate the uncertainty and friction factors caused by interference and can realize the on-line estimation and compensation.On the other hand using topical saturation function to replace the sign function is to weaken the observer output chattering phenomenon.For the master force tracking,force closed loop control scheme is adopted,and the fuzzy PID control is adopted for each axis to adapt the model structure and parameters of different operation states.The right master / slave six axis dynamics one by one correspondence relations is established decoupling method based on RBF neural network inverse system.The construction of tele-micromanipulation test platform and the realization of the software and hardware of the related measurement and control module are completed.The feasibility and stability of The multi degree of freedom micro operation platform with bilateral servo control system is verified.The experimental results show that the controller designed in this paper has good force tracking and position tracking effect.The master-slave operation fine axis alignment hole experiment verified the forward force control design and the reverse position control design are correct.It is also proved that the operator in tele-micromanipulation of force telepresence.