Research On Homogeneous Hand Controller Based On Force Fusion Control For Telerobot

Robot technology has been one of the crucial research topics which developrapidly since the middle of twentieth century. As a focused issue in robotics domain,telerobots be widely used in working environment unfit human exposing such asnuclear energy, healthcare, outer space, abysmal sea, emergency disaster relief andmore. Been a kernel facility of the teleoperation system, a haptic hand controller notmerely as the input device to control the motion of driven ends and also is theintermedia what can link the operators and robots. Further, hand controllers play therole of interface in the progress of dynamical coupling between operators and drivenrobots. While current approaches for force feedback of haptic hand controllers aremotor stalling and plasticity fastening which caused the loss of DOF. Based on abovewords, operators have to deliver a force to mechanism if want to feel it. Besides，research of haptic hand controllers usually concentrate on“transparent”force sensingtransmit of operators and driven ends while no researching on how to guidemanipulative behavior via force feel when the robot have no physical contact withsurroundings.This topic derives from the project “Research on shared control strategies forrobot system based on kinesthetic and force guiding method” sponsored by NationalNatural Science Foundation of China and the Key Science Technology Project of JilinProvince “Shared control of kinesthetic guiding for robot system”. For solvingproblems exist in traditional haptic hand controller and force control strategy such asthe bad predictability and controllability, low efficiency and security. This paper takethe laboratory existing4-DOF serial robot as master hand controller, and build the compliance motion control model. Based on force signal real-time correction andcompliance motion control model of force realize that the hand controller have forcefollowing movemont accordingly to the operator’s control force. Further more, virtualguiding force derived from autonomously task planning mechanism can bestowcertain autonomy to the haptic hand controller and operators can get involved into theautonomous control of robots and amend it with the force shared control which fusionof the virtual guiding force and operating force, thereby improve feasibility of handcontrollers under complex environment.The main works of this paper includes:1. Based on gravity compensation algorithm, amend the null benchmark valueof the6dimension force/torque sensor in the move processes andcompensates the measured error on the basis of the sensor calibration.2. Analyze the dynamical characteristics of the hand controller and build thecompliance motion control model under the relationship between ends forceand velocity.3. Construct virtual guiding force by utilizing the real time information of therobot end, target object and fraise on the basis of artificial potential fieldtheory, fuse the virtual guiding force and operating force into control forcesignal of the hand controller by reasonable manner, realize the control of thehand controller and driven robot.4. Build the master-slave telerobot test platform based on the force fusioncontrol by using available hardware devices and software modules on the lab,then analyze and verify the control strategy of the haptic hand controller.