一种七自由度力反馈手控器测控系统设计

摘要

Multi-degree of freedom( DOF) force feedback hand controller is an important human-machine interface device in teleoperation. A design of a 7 DOF force feedback hand controller measurement and control system is presented. The system can measure the position of hand controller and generate the feedback force. The principle of position detection, the principle of the force feedback and hardware and software design of the system are introducd in detail. Test results show that the designed hand controller, whose precision of position measurement has reached ?. 5 mm, and precision of three dimension force feedback has reached 5% FS, satisfies the needs of multi-DOF force feedback teleoperation.%多自由度力反馈手控器是遥操作的重要人机接口设备,提出了一种七自由度力反馈手控器测控系统的设计方案,实现对手控器末端位置的测量和向手控器输出反馈力/力矩.详细介绍了该手控器的位置检测原理、力反馈控制原理和控制器的软硬件设计.在完成系统调试后对手控器系统进行了测试,测试结果表明:设计的手控器系统测量精度达到±0.5 mm,三维平动力反馈控制精度达到5％ FS,满足多自由度力反馈遥操作的需求.