Designing a Force Feedback Operator Console for Manipulator Grip Control

摘要

The development of virtual and remote control technologies requires an expansion of the variety of technical devices for human interaction with the virtual environment. It is required to obtain more information about the properties of objects, for example, their physical characteristics (hardness, elasticity) and transmit them to the operator. Therefore, operator sensing systems are currently relevant for various areas of life. The paper presents a variant of the sensing system of the manipulator operator, which is an augmented reality device that allows you to facilitate the work and make it better and more accurate. Such a system is a glove with electric drives, equipped with various sensors. This device acts on the operator's hand, due to the presence of torque feedback, creating an expanding force proportional to the force generated by the grip of the manipulator at the time of object capture. Thanks to the Matlab graphical simulation environment Simulink, a mathematical model of the control system was formed with force feedback from the manipulator to the operator when capturing a solid object. To analyze the control algorithm of the entire system, a model "control object - manipulator gripper drive - operator's console (glove) drive" model was created, which made it possible to study the behavior of the system in various conditions, as well as to check the speed of the drives, select the parameters of amplifying devices, study the stability of the system and interaction with other technical devices. The result of the work is the model of the system that allows a person to control the manipulator with the ability to feel and control the force of object capture. A model of a glove drive, as well as a manipulator gripper drive, was developed, an algorithm for controlling the system was shown, and the behavior of the system was simulated under various operator control actions.