Design Of Control System Of ARM Wrestling Robot Based On LabVIEW With Force Feedback

The arm wrestling robots in people's daily life can be applied to many aspects,such as medical rehabilitation,entertainment,education and popular science.They have high practical value with great social significance.In recent years,the arm wrestling robots in the field of robots has been widespread concern,some colleges and universities,scientific research units began to study.It imitates the human upper limb structure and the force state,can be carried out with the human race wrist competition.The research of the arm wrestling robots requires a lot of knowledge as a knowledge reserve,from biomechanics to mechanical design,from hardware system to software control system,from microelectronics to human-computer interaction,involving a wide range.This paper first introduces the development status of the arm wrestling robots at home and abroad.On this basis,detailed elaboration of the control system of the arm wrestling robot is described in detail from the aspects of motor control,sensor processing,digital signal processing to control algorithm and PC design.The host computer control system according to the collected real-time feedback of the force information and control algorithm to calculate the corresponding data,and then send instructions to the motor,driving the arm to run,so that people who participate in the game feel the adjustment of the robot for the force,more realism on the spot,to achieve a real-time online human-computer interaction.The research contents of this paper are introduced from the following aspects:Introduced the motor drive hardware information and motor drive mode and data acquisition module;completed the calibration of the sensor work,and introduced the calibration steps and methods;in order to improve the accuracy of calibration,The calibration signal is denoised using Kalman filter combined with weighted average filtering;according to the different temperature conditions of the sensor working conditions,completed the sensor temperature compensation work.Using Lab VIEW for the arm wrestling robot host computer control system design.Through the RS-232 serial communication and motor drive connected to receive real-time force feedback data,and through the set of control algorithm to calculate the results,send the appropriate instructions,making the arm wrestling robot operation according to the instructions to achieve the force feedback.The host computer is also responsible for displaying the results of the game and the game data,with data storage and other functions,to achieve human-computer interaction.Divide the power level for the arm wrestling robot.The strength of the person will be divided into the corresponding level,according to the different conditions of the individual experiments,and collect the data,analysis results,the operability of the upper computer control system is verified.Finally,we completed the host computer control system of the arm wrestling robot by using Lab VIEW and verify the usability of the host computer.