Research And Implementation Of Master-slave Manipulator Teleoperation And Force Feedback

As one of the greatest inventions of the twentieth century,robot technology has been applied in many fields and has promoted the rapid development of modern industry.As the environment for human exploration and work becomes more and more extensive,it is difficult for robots to stand alone according to preset procedures in areas where humans cannot enter and the environment is dangerous and complex,such as space and space exploration,nuclear industry operations,underwater exploration,telemedicine,and other fields mission accomplished.Therefore,in view of the above problems,it is of great significance to study the force feedback teleoperating system based on human-computer interaction.This article starts from teleoperating and force feedback.The main research contents include:First of all,through the investigation of the equipment required for the teleoperating system,according to the specific experimental requirements,Phantom Omni robot was selected as the master device,Reinovo six-axis robot as the slave device,and Bioforcen six-dimensional force sensor as the force acquisition device.On this basis,each device is connected to the computer via Ethernet,and the data communication between the devices is realized by using the MFC function of VC6.0,and the experimental platform construction of the force feedback teleoperating system is completed.Secondly,the master and slave devices were kinematically modeled to obtain the link model and DH parameters of the master-slave equipment,and the positive kinematics equation was established to obtain the relationship between the posture matrix of the end of the robot arm and the angle of each joint,and the inverse kinematic formula of the slave Reinovo equipment is derived by using the geometric and algebraic methods.Then,based on the master-slave kinematics model,use the Matlab toolbox to simulate the motion space of the master-slave device,use the random point method to find the workspace map,and design two mapping schemes: joint space mapping and operation space mapping And carry out experimental analysis,combined with the advantages of the two schemes to design a hybrid mapping scheme and conduct experimental analysis.Finally,the calibration and decoupling of the six-dimensional force sensor eliminate the signal coupling between the channels of the sensor;a moving average filtering method based on normal distribution is proposed to solve the effect of continuous periodic extreme noise and random extreme noise on the moving average while satisfying the smoothness of the curve;the scheme of measuring the zero point and gravity of the end effector of the slave robot arm is proposed,and the zero point and gravity of the sampled value of the six-dimensional force sensor are compensated to eliminate the influence of the zero point and gravity of the sensor on the measured data when there is no load.