The Position And Posture Error Analysis And Force Position Compensation Of The Master-slave Teleoperation Robot

The master-slave teleoperation robot has far-reaching application value and is widely used in many fields such as telemedicine,aerospace,deep sea exploration,and rehabilitation training.This paper analyzes and compensates the position and attitude error of the master manipulator through the design of the force feedback master manipulator of the research group,and explores the two main problems of additional force and additional displacement existing in the subject.The main research work is as follows:Firstly,the position and orientation error analysis based on the master-slave teleoperation equipment:the kinematic model of the existing equipment WAM universal manipulator was established,the working space of the end reference point was analyzed,and the position and orientation error model of the WAM manipulator was derived,and analyzed the influence of each joint angle,the length error parameter of the arm structure and the angle error parameter on the position and orientation error of the WAM universal arm end reference point.It provided a reliable basis to improve the operation accuracy of the position and orientation of the master-slave teleoperation robot.At the same time,the position and orientation error compensation of the robot was carried out,and the simulation results showed that the compensation effect is good.Secondly,compensation study on the additional force of the force feedback master manipulator PHANToM:Mainly based on Lagrange equation to establish the force feedback master manipulator PHANToM's dynamic model.Then,analyze the reasons of the coupling of additional force and additional displacement,establish the gravity,inertial force and frictional force compensation model of the force feedback master manipulator,and determine the compensation strategy of force feedback master manipulator additional force.Finally,the simulation of the additional torque and the compensation torque eliminated the interference caused by the dynamic feedback characteristic of the main feedback PHANToM to the operator's perception of the true feedback force,and realized the real force perception of the operator from the contact between the operator and the environment,which improved the transparency of the master-slave teleoperation robot system.Thirdly,compensation study on the additional displacement of the force feedback master manipulator PHANToM:By analyzing the cause of the force feedback master manipulator PHANToM additional displacement,simulated the additional displacement generated by the force feedback master manipulator PHANToM,and solved the additional displacement generated at the end of 80ms.The mathematical model of the MASS-SPRING-DAMP system of the force feedback master was established,and the additional displacement compensation strategy of the force feedback master was determined.The additional displacement compensation model of the force feedback master manipulator was established,which laid a mathematical foundation for the accurate teleoperation of the slave manipulator's motion position.