主从式机器人系统中力反馈的实现

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。

Implementation of Force Feedback in Master-slave Robot Systems

A set of master-slave robot systems were designed for medical use or equipment maintenance, and its implementation of force  feedback was studied. In order to obtain good force telepresence, a six-dimensional force sensor was used to get the forces from the slave site. And the force informations 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 reduce 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 meet the force telepresence requirements for the master-slave robot systems.