主从式机器人系统中力反馈的实现  

Implementation of Force Feedback in Master-slave Robot Systems

作　　者：盛国栋[1] 曹其新[1] 潘铁文[2] 冷春涛[1] 顾凯[1] 

机构地区：[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　　处：《中国机械工程》2015年第9期1157-1160,1166,共5页China Mechanical Engineering

基　　金：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)

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。A set of master-slave robot systems were designed for medical use or equipment mainte-nance,and its implementation of force feedback was studied.In order to obtain good force telepres-ence,a six-dimensional force sensor was used to get the forces from the slave site.And the force infor-mations 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 re-duce 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 meetthe force telepresence requirements for the master-slave robot systems.

关 键 词：主从式 机器人 力反馈 滤波 重力补偿 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]