STRUCTURE AND METHOD FOR CONTROLLING RESTORING FORCE OF THREE-DIMENSIONAL FORCE FEEDBACK HANDLE BASED ON FORCE/TORQUE SENSOR

摘要

A structure for controlling restoring force of a three-dimensional force feedback handle based on a force/torque sensor, comprising a base plate (1), mounting brackets (2) on two sides, triangle plate ribs (3), a Y-axis motor (4), an X-axis motor (5), an inner frame (6), a three-dimensional force sensor (7), a tension spring (8), a Z-axis motor (9), a counterweight mechanism (10), a torsion spring (11), a torque sensor (12), and a handle knob (13). Also provided is a method for controlling restoring force of a three-dimensional force feedback handle based on a force/torque sensor, comprising the following steps: the three-dimensional force sensor (7) and the torque sensor (12) detect the restoring force of a force feedback handle in three directions in real time; use the difference between the expected restoring force input by a user currently and the current restoring force output of the handle at each degree of freedom as input of a PID controller; in the adjusting process, quickly adjust the current restoring force output by using all links to enable the restoring force output of the handle to track an expected input value; and if the current restoring force output value of the handle is consistent with the expected input value, the restoring force of the handle can be stably tracked and input. The control structure is simple, and the restoring force of the handle is controlled in real time and stably by means of PID adjustment.