| With the increasingly widespread application of mobile robots in industry, national defense, space, ocean development and healthcare, mobile robot control technical has a rapid development. The artificial control of robots, with its advantages of high security and high reliability, has important significance in the field of robots despite of the popularity of autonomous navigation and wireless remote control technical. With the research object of mobile robots, a set of ’portable’ control system based on force sensing has been designed for artificial manipulation of robots to realize omni-directional movement. Main research contents in this paper include:1. The functional requirements of mobile robots force sensing control system are put forward considering the characteristics of omni-directional mobile robot motion and the industry applications of robots. The system overall design is completed, and the system composition and working principle are introduced in detail.2. Design of the force sensing control device structure, which includes force testing mechanism, multistep rotational positioning mechanism and a suction cup base, is given based on the requirement of human-computer interaction. In addition, the design process of three-dimensional force/torque sensor is expounded. A’double holes & independent cross beam’type elastomer is proposed based on the existing design experience of six dimensional force sensor. The elastomer structure size is determined through the method of ’trial and error’. The best position of strain gage is determined by theoretical analysis and finite element analysis, and the full bridge scheme is settled. The theoretical model of the sensor is established through the stress analysis of elastomer.3. With stm32 chip as the main control chip, the hardware system design for force sensing control system, which includes power supply module, energy saving module, wireless communication module and signal acquisition module, is given by using modular circuit structure. Besides, the software system design and programming are completed based on the system working process, and AD conversion, serial-communication, wireless communication module are expounded in detail.4. The calibration experiment for the force sensor and the whole device commissioning test for the force control system of mobile robots are completed. The calibration matrix is obtained through the calibration experiment for the force sensor, and the sensitivity and the linearity of the sensor are analyzed. The whole device commissioning test shows that this force sensing control system can realize smooth omni-directional movement for mobile robot by human controlling. |
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