Research On Master-slave Control System Of Humanoid Mechanical Hand With Force Feedback

In teleoperation robot systems,operators first evaluate the remote working conditions and then make decisions and control the robot to perform tasks.This operating pattern can greatly improve the robot's versatility and utilization.Force telepresence is the key technique to help operators evaluate the work situation in remote operation accurately.In this paper,force telepresence and the control of a master-slave system are studied to improve the controllability of the master-slave system.Master-slave humanoid hands with force feedback are designed to reduce the man's operational burden.The fingers tips of the master and slave hands are designed to facilitate the optimization of following motion of the master hand.According to the master-slave control feature,a parallel three-finger control module is adopted so that each master-slave finger pair can operate independently.The characteristics of various bilateral control structures are analyzed,and the basic frame of the control system is determined by using the force-position control structure.The control mode is divided into the follow mode and the force feedback mode.The master hand uses an active finger following motion scheme,which solves the problems existing in the traditional master hand recovery motion.The PD-based position control is used by slave hand in the following mode,and the self-adjusting variable impedance structure is used in the force feedback mode to improve the flexibility and adaptability of different rigid object grips.Finally,experiments are carried out to prove the effectiveness and feasibility of the control system.