The Study Of Universal Teleoperation Master-Controller

Telerobot has been given more and more attention and research because it can replace human in dangerous environment.Universal master manipulator can improve the performance and work efficiency.The background of this paper is state 863 program -hot line robot that was taken on by robot research center of Shandong University of Science and Technology.After detailed understanding control system of master manipulator, we designed a master controller.Master manipulator itself and master-controller buildup universal master manipulator,it can control every slave manipulator. Writer first analyzed the structure of master manipulator and bilateral force response,pointed out its advantages and disadvantages,indicated the design principle of master manipulator.Based on design requirements of master controller,chose EZ-USB as USB interface chip to realize hardware design of master controUer.and communicated with host through USB or RS-232C.This paper introduced data acquisition circuit and USB interface circuit detailedly,defined the format of useful data,analyzed the structure of USB driver,programmed firmware and firmware download driver,at last debugged master controller and tested data acquisition transfer rates.Experimental results showed that all functions of master controller has been realized and data acquisition transfer rates has reached its request.