基于力反馈的主从机械手定位与操作研究  

Research on master-slave manipulator localization and operation based on force feedback

作　　者：王超 WANG Chao(China National Nuclear Corporation,Third Branch,Jiayuguan 735100,Gansu China)

机构地区：[1]中核四0四有限公司第三分公司,甘肃嘉峪关735100

出　　处：《锻压装备与制造技术》2025年第2期92-95,共4页China Metalforming Equipment & Manufacturing Technology

摘　　要：力反馈主从机械手技术在远程操作精密制造领域发挥着重要作用。基于主从机械手系统需求,设计机械结构、驱动单元、力传感系统,建立主从机械手运动学模型。针对位置控制精度要求,提出一种改进型位置力混合控制策略,通过力反馈透明度优化提升操作性能。实验表明,该控制策略使位置误差控制在±0.1mm范围内,力跟踪误差不超过5%。操作者通过力反馈感知从机械手环境接触力,显著提高远程操作安全性。该技术对提升机器人远程操作性能具有重要实践意义。Force feedback master-slave manipulator technology plays an important role in the field of remote operation precision manufacturing.Based on the requirements of master-slave manipulator system,we design the mechanical structure,drive unit,force sensing system,and establish the kinematic model of master-slave manipulator.Aiming at the position control accuracy requirements,an improved position-force hybrid control strategy is proposed to enhance the operation performance through force feedback transparency optimization.Experiments show that the control strategy enables the position error to be controlled within the range of±0.1mm and the force tracking error to be no more than 5%.The operator senses the contact force from the robot environment through force feedback,which significantly improves the safety of teleoperation.This technology is of great practical significance to improve the performance of robot teleoperation.

关 键 词：力反馈 主从机械手 位置控制 运动学建模 性能测试 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]