Design And Research Of Manipulator Remote Control System Based On Force Feedback

The force feedback robotic arm remote control system can provide the operator with a sense of presence,shorten the task time,improve the control effect and achieve fine control.Researchers have done a lot of research on the mechanical structure and control system of remote control systems,but most of them are based on improving performance and solving delays.Remote control systems are used as human-computer interaction equipment.This article is designed around ergonomics and studies the human-computer interaction system suitable for human force perception.In terms of mechanical structure,the ergonomics of the console,the size of the feedback force,the flexibility of the mechanism,and the high-precision,low-quality,and good gravity compensation strategies of the controlling master will all affect the operator's control experience,control accuracy,and control effectiveness.Based on the current configuration of the controller,this paper separates position and attitude,and uses left-hand position control and right-hand attitude control to control the two-handed coordination to solve the problem of conflicts between the feedback force and the flexibility of the force feedback device.Solve the problem of force sensor installation and realize closed-loop control of force.In the optimization of the structure of the manipulator,the rotary joint structure was improved,a combination of a direct drive motor and a rope drive was introduced to solve the problem of manipulator clearance,a passive gravity compensation mechanism was introduced,and the active arm of the left-hand manipulator Delta mechanism was improved.The method of arm configuration changes the center of gravity of the active arm and introduces springs to provide compensation torque.It reduces the weight of the mechanism and provides a high torque passive gravity compensation amount.For the right-handed series manipulator,the symmetrical center design is used to adjust the center of gravity.Position,provide passive gravity compensation,increase passive gravity compensation mechanism,effectively reduce motor torque output under active gravity compensation,and improve system safety margin.In terms of control system,for the force feedback-position type,there is a problem of control stability.By introducing a warning force instead of a large rigid contact in the case of interference,the control stability is improved.Considering the coupling effect of joints,combined with the specific mechanism,a closed-loop decoupling control strategy for force feedback with dynamic compensation is designed to realize the decoupling control of the heterogeneous master hand and provide the operator with stable six-degree-of-freedom force feedback.On this basis,the dynamic characteristics of the left-handed manipulator are analyzed in detail.In combination with the actual application of human hand control,the dynamic compensation amount is selected to reduce the calculation amount of the control system and improve the real-time performance of the system.In terms of measurement and control system design,a combination of industrial control computer and motion control card is used to build the hardware system,and the measurement and control system software is developed using a combination of Lab VIEW and Matlab.Finally,the visual simulation model was used to verify the manipulator's working space,passive gravity compensation strategy,and force feedback control strategy,which proved that the design was reasonable.