一种三维力反馈训练仿真控制系统设计

摘要

针对空间站舱外任务需要研究人员通过遥操作控制平台对空间站机械臂遥操作来完成,而空间站机械臂研制成本高,无法实现现场调试,直接投入使用风险性高,系统安全性与可靠性无法保障的缺陷与不足,设计了一种面向空间站机械臂的遥操作力反馈训练的仿真控制系统.重点阐述了该系统的工作原理以及系统硬件和软件设计思路.该系统的力反馈手柄具有3个自由度,充分模拟操作空间;力反馈手柄末端位置信息和力反馈信息,由微控制器STM32系列单片机与PC实现数据传输.实验结果验证了该系统面向空间站虚拟机械臂的力反馈控制仿真功能、系统硬件和软件的可靠性,为空间站机械臂的虚拟仿真提供了一种可行方案.%Space extravehicular missions require researchers' teleoperation on the control platform.In consideration of the high development costs of the station's robotic arm,the difficulty of the scene debugging and the high risk,a design of 3-DOF force feedback for the station's robotic arm training simulation control system is presented.The working principle,hardware and software design of the system are introduced in detail.The force feedback handle of the system has three degrees of freedom,which fully simulates the operating space.The transmission of the position information and force feedback information is implemented by microcontroller STM32 and computer.The results show the simulation function of the system and verify the reliability of the system hardware and software.A feasible virtual simulation scheme for the station's robotic arm is provided.