面向遥操作的多自由度力反馈设备校准方法与装置研究  

Research on the Calibration Method of Multi-DOF Force Feedback Devices for Tele-operation

作　　者：林硕 Lin Shuo(Fujian Metrology Institute,Fuzhou Fujian 350003;Fujian Key Laboratory of Force Measurement(Fujian Metrology Institute)Key Laboratory of Force Measurement for State Market Regulation,Fuzhou Fujian 350003)

机构地区：[1]福建省计量科学研究院,福建省力值计量测试重点实验室,国家市场监管重点实验室(力值计量测试),福建福州350003

出　　处：《中国仪器仪表》2025年第3期27-31,共5页China Instrumentation

摘　　要：本文针对各类遥操作机器人配置的多自由度力反馈设备需要标定校准的问题,提出一种可进行位姿、反馈力等设备特性校准的方法,并对所需要的校准装置结构进行了设计;通过三轴转台和三轴位移模组构成的系统形成六自由度驱动机构,采用光栅位移传感器和角度编码器提供标准距离和角度,标准多分量测力仪作为反馈力的测量标准,设计可模拟多种工况的控制系统。试验结果表明,该方法和装置可对力反馈设备的位姿准确度、距离准确度、反馈力准确度等进行准确标定。Aiming at the problem that the Multi-DOF force feedback devices for tele-operation robots needs to be calibrated,a method for calibrating the characteristics of equipment such as position,pose and feedback force is proposed The structure of the calibration device is developed through theoretical force analysis.The 6-DOF driving mechanism is formed by the system composed of a 3-axis turntable and a 3-axis displacement module.The grating displacement sensor and angle encoder are used to provide standard distance and angle,and the standard multi-component dynamometer is used as the measurement standard of feedback force.The test results show that the method and device can accurately calibrate the pose accuracy,distance accuracy and feedback force accuracy of the force feedback device.

关 键 词：力反馈设备 多自由度 多分量力 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]