基于STM32的力觉反馈装置及用于主从遥操作实现

A Force Feedback Device Based on STM32 and Its Application in Master-slave Teleoperation

摘要:

在遥操作系统中为了增强现实及实现本地力觉信号再现功能以提高精细化操作的目的,设计了用于人机交互功能的力反馈装置。该装置为单自由度结构,基于步进电机驱动。利用STM32微控制器采集触觉力信号以及关节位移信号,通过设计基于力误差的控制律调整位置变量实现输出力信号与标准力信号的匹配。为了验证该力反馈装置进行了标准力信号再现实验。并且利用该力反馈装置作为主机械手与单自由度从机械手搭建遥操作装置,进行了力、位置双边跟踪实验验证,实现了主、从机械手力、位置协同一致的目的。

Abstract:

In order to augment reality and realize the purpose of local force-aware signal reproduction to improve precise operation, the force feedback equipment for human-computer interaction function is designed. The equipment is a single degree of freedom structure, based on stepper motor drive. Using the STM32 microcontroller to collect haptic force signal and joint displacement signal, the output force signal is matched with the standard force signal by designing the control law adjustment position variable based on force error. The teleoperation system is built with the use of the force feedback equipment and the single degree of freedom slave manipulator. The force and position bilateral tracking experiment is achieved to realize the goal of the master and slave manipulator force and position coordination.