SIA OpenIR  > 机器人学研究室
Alternative TitleResearch on the master and slave control technology of operation machine force feedback
Thesis Advisor赵忆文
Keyword主从机器人 力反馈 运动学
Call NumberTP242/L86/2018
Degree Discipline机械电子工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractAccording to the requirements of the project, the main research on the master robot is mainly done, in which the main robot is abbreviated as the master hand, and the slave robot is mainly called slave hand. First of all, the paper introduces the research of the master hand and the force feedback. Secondly, the kinematic solution of the series parallel hybrid robot is carried out, including the forward kinematics and the inverse kinematics. Then, the impedance relation and the relationship stability between force and position are expounded. Finally, the design of the control system is completed, which mainly includes hardware design and software design. The hardware design mainly includes the selection and configuration of motor and motor drive, programming and configuration of CANOPEN, selection and configuration of torque sensor, and selection and use of industrial control machine. The software design mainly expounds system design and modular processing. The module mainly includes state machine, communication, drive, etc. the software also includes the virtual slave hand designed by QT. The system work flow is described as follows. The system obtains the torque sensor data from the end of the master robot through the serial port, and obtains the torque sensor data from the end of the slave through the net. Both force and torque derive the expected position by the transformation formula of the force and position through the impedance relation model. Then the desired position of each joint angle is obtained by the inverse kinematic. By sending the desired position to the motor drive through the CAN bus, the industrial control computer receives the actual position of the motor through the CAN, and gets the actual position of the motor through the positive kinematic to get the position of the actual terminal coordinate system, and sends this position to the hand, as the desired position from the hand. Finally, the feasibility of kinematics and force feedback is verified by simulation, and data is studied through two groups of experiments. One group is virtual slave tracking the effect of the master posture when the virtual slave does not touch the object, the other is the virtual slave touching the object, the virtual slave tracking the hand position and the force and torque effect. The data indicate that the master robot can achieve better results.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
路明. 手术机器人力反馈主从控制系统设计与技术研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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