主从式机器人系统中力反馈的实现

中国机械工程 ›› 2015, Vol. 26 ›› Issue (9): 1157-1160,1166.

主从式机器人系统中力反馈的实现

盛国栋1;曹其新1;潘铁文2;冷春涛1;顾凯1

1.上海交通大学,上海,200240
2.第二军医大学附属上海长征医院,上海,200003

出版日期:2015-05-10 发布日期:2015-05-08
基金资助:
国家自然科学基金资助项目(81371650);国际热核聚变实验堆(ITER)计划资助项目(2011GB113005)

Implementation of Force Feedback in Master-slave Robot Systems

Sheng Guodong1;Cao Qixin1;Pan Tiewen2;Leng Chuntao1;Gu Kai1

1.Shanghai Jiao Tong University,Shanghai,200240
2.Shanghai Changzheng Hospital Affiliated to Second Military Medical University,Shanghai,200003

Online:2015-05-10 Published:2015-05-08
Supported by:
National Natural Science Foundation of China（No. 81371650）;

摘要/Abstract

摘要：

设计了一套适用于医疗和装备维修的主从式机器人系统，并对其力反馈实现进行了研究。采用六维力传感器获得了从端的受力情况，并对获得的力信息进行了滤波、离线坐标系标定和重力补偿等处理，提高了力反馈信息的准确性和抗干扰能力。为进一步减小主从位置误差对系统的影响，在力反馈中实时附加一个与主从位置误差反向的作用力,并将其与传感器获得的力信息进行线性融合。实验结果表明，该方法可以提高系统的力反馈性能，满足主从式机器人系统对力反馈的要求。

关键词: 主从式, 机器人, 力反馈, 滤波, 重力补偿

Abstract:

A set of master-slave robot systems were designed for medical use or equipment maintenance, and its implementation of force feedback was studied. In order to obtain good force telepresence, a six-dimensional force sensor was used to get the forces from the slave site. And the force informations obtained were filtered to improve the noise immunity. Off-line coordinate system calibration and gravity compensation were done to improve the accuracy of the signals. In addition, to further reduce the negative impacts brought by the position errors of the master and slave sites, a force which is opposite with the position error was appended. Experimental results show that this method can meet the force telepresence requirements for the master-slave robot systems.

Key words: master-slave;robot;force-feedback;filtering;gravity , compensation

中图分类号:

TP242.3

盛国栋, 曹其新, 潘铁文, 冷春涛, 顾凯. 主从式机器人系统中力反馈的实现[J]. 中国机械工程, 2015, 26(9): 1157-1160,1166.

Sheng Guodong, Cao Qixin, Pan Tiewen, Leng Chuntao, Gu Kai. Implementation of Force Feedback in Master-slave Robot Systems[J]. China Mechanical Engineering, 2015, 26(9): 1157-1160,1166.

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