Development Of The Master Hand And The Master-slave System Control

Master-slave control system is a teleoperation system. On the one hand, the movement information of operation is transported to the robot or directs the virtual object in virtual reality by the master hand; on the other hand, physical interaction (mechanics, touch, temperature, etc.) of the virtual reality and the robot suffered in teleoperation is feedback to the operator by the master hand. Master-slave system can command the slave-robot to complete precise tasks, such as location, perception of texture objects and so on, and it has high efficiency.The master-slave control system proposed in the paper is composed by master hand and five-fingered dexterous hand. The master hand transports the movement of the operator to the five-fingered dexterous hand and controls the five-fingered dexterous hand to complete the certain tasks. At the same time, the force from the five-fingered hand is feedback to the operator. The structure of the master hand adopts the links mechanism and the force feedback is achieved by the ultrasonic brakes and vortex springs. The five-fingered hand is driven by ultrasonic motors and transmitted by elastic lines.Finally, the master-slave control system based on DSP is established in the paper, including the master-slave control system hardware circuit and software programming. The hardware circuits include the module of DSP2812 system, direction control module of USMs, velocity control module of USMs, data acquisition module and so on. Incremental digital PID control method is used to realize the location feedback control..