CN103386687A - 2-DOF (Degree of Freedom) robot remote operation device with force immediacy - Google Patents
2-DOF (Degree of Freedom) robot remote operation device with force immediacy Download PDFInfo
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- CN103386687A CN103386687A CN2013102964346A CN201310296434A CN103386687A CN 103386687 A CN103386687 A CN 103386687A CN 2013102964346 A CN2013102964346 A CN 2013102964346A CN 201310296434 A CN201310296434 A CN 201310296434A CN 103386687 A CN103386687 A CN 103386687A
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Abstract
The invention discloses a 2-DOF (Degree of Freedom) robot remote operation device with force immediacy. The remote operation device is characterized by mainly comprising a box body, a handle, motors, an integrated circuit board, and a liquid crystal display module and a control panel arranged on an upper plate of the box body, wherein an operation handle structure has sphere pair characteristics; semi-circular ring bodies are processed on the middle parts of two rotating bent shafts; three axes of the handle and the two bent shafts are arranged in a bracket shaft hole in the box body in a way of spatially intersecting in the circle centers of the semi-circular ring bodies of the bent shafts; a switch button is arranged on the operation handle; the motor is arranged at one end of each bent shaft; an angular displacement sensor is arranged at the other end of each bent shaft respectively; an incomplete hollow spherical shell which has a largest sphere diameter and is transparent longitudinally is processed at the middle position of the upper plate of the box body. A movable connection way which is similar to a sphere pair is integrated into the handle, so that the operating smoothness is enhanced, the position control accuracy is increased, and the fidelity of force feedback is increased.
Description
Technical field
The present invention relates to a kind of MS master-slave teleoperation of robot technology, be specially a kind of 2-DOF teleoperation of robot device of the power of having feel telepresenc, be particularly useful for the distant people's of operating machine operation of the limit operation environment such as high temperature, high pressure, intense radiation and man-machine interaction and the manipulation in virtual reality system.
Background technology
The teleoperation of robot technology has very extensive and important purposes in fields such as space exploration, ocean development, atomic energy application, military affairs, the relief of speedily carrying out rescue work, tele-medicine, grand microoperations, and more application example has been arranged at present.In order to dwindle the gap of distant operation and on-the-spot direct control quality, further improve operating efficiency and the quality of distant operation, not only needing provides visual information clearly for the operator, but also need to provide for it information such as operation counter-force size and movement interference, therefore, research and develop the teleoperation of robot device with power feel telepresenc and have very important theory and realistic meaning.Realizable force feels that the distant operating means of telepresenc is an important component part of in the teleoperation of robot technology, various sense organs being reproduced, and is used for reproducing the perception that the people feels for circumstances not known power.
In actual mechanical process, based on power, feel that the MS master-slave formula tele-robotic system of telepresenc technology can improve to a great extent from the work capacity of end robot.In general, the feedback of only having increase power to feel, the simulation that the power that realized is felt, man-machine interaction could more true, nature.
Robot Force feels that the substantive issue that the telepresenc system will solve mainly comprises two aspects, the one, send real-time and accurately the position of operator's hand and attitude information to the REMOTE MACHINE people; The 2nd, the interaction force/moment information from the machine human and environment is fed back to the operator, thereby precise and high efficiency completes particular task (particularly allowing robot replace the people to be engaged in the work of extreme environment operation) more.In recent years, in the MS master-slave Teleoperation Systems, having polytype power to feel feedback, interactive device is studied develops.Control the accurate stable of the smooth true and feedback force size of feel, become the higher target that power feels that telepresenc equipment is pursued, the smooth smooth sense of operating personnel's operation is closely related with the ad hoc structure that device adopts, and the true and accurate of feedback force effect is the direct impact of controlled system.
Traditional distant operating means generally can both be controlled the actions such as crawl of remote mechanical hand comparatively exactly, but does not have force feedback function.The advanced distant operating means of force feedback adopts the homemade control system of overseas equipment manufacturer, the special force feedback operation device of well-known manufacturers produce such as sieve skill, Microsoft mostly.The equipment of these external manufacturer production or expensive, or have many factors that does not meet true engineering application, can't meet the particular demands in domestic project reality.
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is: the 2-DOF teleoperation of robot device that provides a kind of power of having to feel telepresenc.This distant operating means is followed modular design method, adopt modularized design, level of integrated system is high, function is many, and have easy mechanical interface and communication interface, can make up with various types of robots realizable force feel telepresenc function, not only operating handle is smooth, and the feedback of power feel accurately can be provided.
The technical scheme that the present invention solve the technical problem is: design a kind of power of having feel telepresenc
2-DOF teleoperation of robot device, is characterized in that this distant operating means mainly comprises casing, operating grip, supporting construction, LCD MODULE, control panel, direct current generator, surface-mounted integrated circuit and angular displacement sensor; Described casing is except upper plate, and other each face is complete, sealing all, and LCD MODULE and control panel are installed on the casing upper plate, and a hole that is used for the fitting operation handle is arranged; Described operating grip comprises little cambered axle, upper hopper chute, large cambered axle, gliding groove, Handle axis, axle upper sphere, fastening cover, square locating piece and bat-handle switch button; The bat-handle switch button is positioned at the top of Handle axis; Described supporting construction comprises large cambered axle electric machine support, little cambered axle electric machine support, little cambered axle gripper shoe, large cambered axle gripper shoe and supports spherical shell; Described supporting construction is positioned at box house, each two of little cambered axle gripper shoe and large cambered axle gripper shoes, be quadrangular array in casing, the quadrangle opposite side is the gripper shoe of same type, the cambered axle electric machine support is positioned on corresponding cambered axle gripper shoe, two direct current generators lay respectively on two cambered axle electric machine supports, support spherical shell and are positioned at the inboard of casing upper plate; Described support spherical shell is to have the penetrating imperfect empty spherical shell of axle upper sphere maximum gauge and up and down; The footstalk at little cambered axle two ends, be arranged in axis hole on two little cambered axle gripper shoes in supporting construction respectively, the footstalk at large cambered axle two ends, be arranged on respectively in the axis hole of two large cambered axle gripper shoes in supporting construction, the two cambered axles footstalk line at two ends separately are the state of intersecting vertically, and intersection point is positioned on the center line of Handle axis; The footstalk at each cambered axle two ends, be equipped with angular displacement sensor on an end footstalk, and other end footstalk below is equipped with direct current generator; Described two direct current generators lay respectively on large cambered axle electric machine support and little cambered axle electric machine support on large cambered axle and little cambered axle; The angle that described direct current generator rotates is detected by the angular displacement sensor of the other end that is arranged on same cambered axle footstalk respectively; The fulcrum ball valve jacket is played a supporting role on Handle axis and to Handle axis, the axle upper sphere is connected in the mode that is similar to the secondary form of ball with supporting between spherical shell;
Described Handle axis becomes with three axis of little cambered axle and large cambered axle that space is orthogonal intersects, and intersection point is the centre of sphere of axle upper sphere and 3 overlapping positions in the center of circle of little cambered axle, large cambered axle semi-circular ring, the square locating piece of Handle axis bottom installation; Only three axis become space orthogonal crossing when operating grip is not worked, and after operating grip work, three axis become space intersection, and little cambered axle intersects vertically all the time with large cambered axle two axial lines; Be processed with the annular chute on the semi-circular ring of little cambered axle and large cambered axle, when operating grip swings, can slide in the lower end of Handle axis in the annular chute;
Described control panel comprises that power switch, feedback force ratio setting button, ratio are set up and puts button, ratio and reduce and put button and storage arranges button; Described surface-mounted integrated circuit comprises circuit substrate, MCU processor unit, signals collecting and conditioning module, memory module, power module, communication module and A/D modular converter;
The angular displacement sensor of the footstalk both sides of described little cambered axle and the cambered axle of being connected is connected by electric wire with surface-mounted integrated circuit with direct current generator; The signals collecting of two direct current generators and control and regulation are completed by the MCU processor unit on surface-mounted integrated circuit, electric connecting relation is: angular displacement sensor---signals collecting and conditioning module---A/D modular converter---MCU processor unit---communication module; Memory module directly is connected with the MCU processor unit, and power module is connected with all components and parts that need to power;
After the function of described signals collecting and conditioning module is that the small-signal of diagonal displacement sensor output is amplified, filtering processes, send into the A/D modular converter, convert to after data signal and be input to the MCU processor unit and process accordingly; Power module is responsible for supply capability; Memory module adopts independently memory of outside, records work online parameter information in process of described tele-robotic system, is convenient to after off-line survey data analysis and management; The main control computer that communication module is responsible for distant operating means and robot carries out communication, institute's measurement information is transferred to the robot main control computer in real time, so that robot makes corresponding decision according to task; Communication module has adopted the communication interface of standard, is serial ports or USB interface;
Be designed with power switch button on described control panel, the feedback force ratio is set button, and ratio increases button, and ratio subtracts button and storage arranges button.
Compared with prior art, the distant operating means of the present invention has following advantage:
At first, because distant operating means has adopted Modular Structure Design, applicable to requiring, have on the various teleoperation of robot devices of power feel telepresenc, help robot to complete relevant danger work; Secondly, distant operating means can be stable and accurate be in robot in the danger limit environment with far-end and the active force information between manipulating object feeds back to control stick, for the operator provides power, feels perception; The 3rd, multiply by after certain proportion with operator's steering force the difference signal that deducts again the stressed gained of REMOTE MACHINE people apparatus for work and remove to drive the motor that is connected with device, to produce suitable moment; The 4th, the positional information of distant operating means is detected, and be real-time transmitted to the far-end slave robot,, to form position closed loop, make the far-end slave robot follow the motion of this operating means; The 5th, incorporate the mode that is dynamically connected that is similar to the ball pair on handle, strengthened the operation smooth feeling, not only improved position control accuracy, and exerted all one's strength and feel that the fidelity of feedback is improved.
Description of drawings
Fig. 1 is the overall structure schematic diagram with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
Fig. 2 is the operating grip structural representation with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
Fig. 3 is the case supports structural representation with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
Fig. 4 is the integrated circuit board structure schematic diagram with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
Fig. 5 is the control system schematic diagram with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
Fig. 6 is the control panel structural representation with a kind of embodiment of 2-DOF teleoperation of robot device of power feel telepresenc.
The specific embodiment
Describe the present invention in detail below in conjunction with embodiment and accompanying drawing thereof.Embodiment implements under take technical scheme of the present invention as prerequisite, has provided detailed embodiment and process.But the protection domain of the claims in the present invention is not limited to following embodiment.
The 2-DOF teleoperation of robot device with power feel telepresenc of the present invention's design is (hereinafter to be referred as distant operating means, referring to Fig. 1-6) based on the robot principle, follow robot modularized design philosophy, adopt modularized design, according to the remote control system operation principle of robot, design.
This distant operating means is characterized in that mainly comprising: casing 1, operating grip 2, supporting construction 4, LCD MODULE 5, control panel 6, direct current generator 7, surface-mounted integrated circuit 8 and angular displacement sensor 9.Described casing 1 is except upper plate, and other each face is complete, sealing all, and LCD MODULE 5 and control panel 6 are installed on the casing upper plate, and a hole that is used for fitting operation handle 2 is arranged; Described operating grip 2 comprises little cambered axle 21, upper hopper chute 22, large cambered axle 23, gliding groove 24, Handle axis 25, axle upper sphere 26, fastening cover 27, square locating piece 28 and bat-handle switch button 29; Be set with dust cover 3 on Handle axis 25, dust cover 3 between casing upper plate and fastening cover 27, falls in case to prevent foreign material, affects the parts normal operation; Bat-handle switch button 29 is positioned at the top of Handle axis 25; Described supporting construction 4 comprises large cambered axle electric machine support 41, little cambered axle electric machine support 42, large cambered axle gripper shoe 43, little cambered axle gripper shoe 44 and supports spherical shell 45; Described supporting construction 4 is positioned at casing 1 inside, large cambered axle gripper shoe 43 and little cambered axle gripper shoe 44 each two, be quadrangular array in casing, the quadrangle opposite side is the gripper shoe of same type, large cambered axle electric machine support 41 is positioned on large cambered axle gripper shoe 43, on 42 little cambered axle gripper shoes 44 of little cambered axle electric machine support, two direct current generators 7 lay respectively on two cambered axle electric machine supports, support spherical shell 45 and are positioned at the inboard of casing upper plate; Described support spherical shell 45 is for having the penetrating imperfect empty spherical shell of axle upper sphere 26 maximum gauges and up and down; The footstalk 211,212 at little cambered axle 21 two ends is arranged on respectively in axis hole on two little cambered axle gripper shoes in supporting construction 4, the footstalk 231,232 at large cambered axle 23 two ends is arranged on respectively in the axis hole of two large cambered axle gripper shoes in supporting construction 4, the two cambered axles footstalk line at two ends separately are the state of intersecting vertically, and intersection point is positioned on the center line of Handle axis 25; The footstalk at each cambered axle two ends, be equipped with angular displacement sensor 9 on an end footstalk, and other end footstalk below is equipped with direct current generator 7; Described two direct current generators lay respectively on large cambered axle electric machine support 41 and little cambered axle electric machine support 42 on a large cambered axle gripper shoe 43 and little cambered axle gripper shoe 44; The angle that described direct current generator 7 rotates is detected by the angular displacement sensor 9 of the other end that is arranged on same cambered axle footstalk respectively; Support spherical shell 45 is enclosed within on Handle axis 25 and to Handle axis 25 plays a supporting role, axle upper sphere 26 is connected in the mode that is similar to the secondary form of ball with supporting between spherical shell 45, when operating grip 25 is swung centered by the centre of sphere of axle upper sphere 26, the more smooth smoothness of operating handle.
Described Handle axis 25 becomes space orthogonal crossing with three axis of little cambered axle 21 and large cambered axle 23, intersection point is 3 overlapping positions in the center of circle of the centre of sphere of axle upper sphere 26 and little cambered axle 21, large cambered axle 23 semi-circular ring, square locating piece 28 is installed in Handle axis 25 bottoms, guarantees that operating grip 2 can't rotate around axis.Only three axis become space orthogonal crossing when operating grip 2 is not worked, and after operating grip 2 work, three axis become space intersection, and little cambered axle 21 intersects vertically all the time with large cambered axle 23 two axial lines; Be processed with the annular chute on the semi-circular ring of little cambered axle 21 and large cambered axle 23, when operating grip 2 swings, can slide in the lower end of Handle axis 25 in the annular chute; The rotation mutually noninterfere of little cambered axle 21 and large cambered axle 23, motion is decoupling zero.When only having little cambered axle 21 to rotate, large cambered axle 23 does not rotate, and when only having large cambered axle 23 to rotate, little cambered axle 21 does not rotate; When little cambered axle 21 all rotated with large cambered axle 23, the position of operating grip 2 was determined by both synthetic results.Because the rotation of every axle can be controlled respectively the different frees degree, therefore, this operating means can be realized two free degree operations.
Described control panel 6 adopts the form of film face-plates, is designed with on it to comprise that power switch button 61, feedback force ratio setting button 62, ratio are set up and put button 63, ratio and reduce and put button 64 and storage arranges button 65; Described surface-mounted integrated circuit 8 comprises circuit substrate 81, MCU processor unit 82, signals collecting and conditioning module 83, memory module 84, power module 85, communication module 86 and A/D modular converter 87;
The angular displacement sensor 9 of the footstalk both sides of described little cambered axle 21 and the cambered axle of being connected 23 is connected and is connected by electric wire with surface-mounted integrated circuit with direct current generator.The signals collecting of two direct current generators 7 and control and regulation are completed by the MCU processor unit 82 on surface-mounted integrated circuit 8, and the described surface-mounted integrated circuit 8(of this device is referring to Fig. 1,4) comprise signals collecting and conditioning module 83, A/D modular converter 87, MCU processor unit 82, power module 85, memory module 84 and communication module 86.Described each module all suitably is integrated on a circuit substrate 81.Electric connecting relation is: angular displacement sensor 9---signals collecting and conditioning module 83---A/D modular converter 87--MCU processor unit 82--communication module 86; Memory module 84 directly is connected with MCU processor unit 82, and power module 85 is connected with all components and parts that need to power.To be this device feel the needs of teleoperation robot control system of telepresenc and specialized designs according to having power to described surface-mounted integrated circuit 8, but its each functional module has adopted current techique.
After the function of described signals collecting and conditioning module 83 is that the small-signal of diagonal displacement sensor 9 output is amplified, filtering processes, send into A/D modular converter 87, convert to after data signal and be input to MCU processor unit 82 and process accordingly.Described power module 85 is responsible for supply capability.Described memory module 84 adopts independently memory of outsides, records work online parameter information in process of described tele-robotic system, is convenient to after off-line survey data analysis and management.The main control computer (system) that described communication module 86 is responsible for distant operating means and robot carries out communication, institute's measurement information is transferred to the robot master control system in real time, so that robot makes corresponding decision according to task.Communication module 86 embodiment have adopted the communication interface of standard, as serial ports or USB interface.
The described LCD MODULE 5 of this distant operating means system is installed on be easy to (referring to Fig. 1) on observation place of casing 1, to show in real time and conveniently to watch the status information of robot under working condition.The described control panel 6 of this distant operating means system adopts the form (referring to Fig. 1,6) of film face-plate, is designed with power switch 61 buttons on it, and the feedback force ratio is set button 62, and ratio increases button 63, and ratio subtracts button 64 and storage arranges button 65.
The described casing 1(of this distant operating means overlooks and sees) be square box-like (referring to Fig. 1,3).Described casing 1 can be described operating grip 2, supporting construction 4, surface-mounted integrated circuit 8, and LCD MODULE 5 and control panel 6 are installed as one.
The operation principle of the distant operating means of the present invention is: by power switch 61 starting drives on control panel 6, and to each component power supply that connects through electric wire.The transmission mechanism application of force Fh of operator to operating grip 2, Handle axis 25 is swung centered by the centre of sphere of axle upper sphere 26, angular displacement sensor 9 detects the angular displacement signal that operating grip 2 rotates, draw displacement signal Xm via surface-mounted integrated circuit 8, deduct after the displacement signal Xs of Work robot actuator with it, through amplifier input computer control system.Based on the displacement difference value signal, computer control system calculates corresponding control signal Xsd according to control algolithm, and it is passed to the robot that far-end is handled, control its joint motor and rotate corresponding angle, make the actuator of far-end Work robot follow manipulation device and move.Simultaneously, when the REMOTE MACHINE people is subject to manipulating object to the active force of robot equipment, REMOTE MACHINE person joint torque sensor detects force signal Fe, biography is to the surface-mounted integrated circuit 8 in this device, control and provide corresponding moment with the motor that little cambered axle 21 is connected with the cambered axle of being connected 23, drive operating grip, make the operation counter-force that the REMOTE MACHINE people is subject to bring the sensation of effective feedback force to the operator, realizable force feel telepresenc, improve the accuracy rate of operation and the operating efficiency of whole robot system.
Teleoperation of robot device of the present invention adopts modularized design, divide module according to the difference in functionality that robot has, design the standard package of each functional module, but each standard package complete independently specific function, and have software or the hardware interface that is connected with other module easily.Modular design method can shorten robot development's cycle, reduces repeated R﹠D work, and the function of flexible expansion robot is conducive to the researcher and is absorbed in and utilizes the robot solving practical problems.
The working space of the distant operating means of the present invention is that the length take the control crank top to the centre of sphere is 90 of radius
o, there is not singularity problem in spherical space in working space, namely mapping relations are unique determines.The motion of two frees degree of this device is not coupled mutually, thereby does not need decoupling zero, has simplified control algolithm; Owing to adopting motor to drive, this device can supply stable and accurate feedback force by Quick, and the kinematic pair due to this operating means has all adopted the low friction pair structure simultaneously, frictional force is compared little with driving force.Apparatus of the present invention are utilized modular design method, adopt the form of slot that sensor, motor are connected with circuit board, are convenient to change, and also are beneficial to protection.The modular construction of apparatus of the present invention, have a volume little, and the characteristics such as highly versatile, can be used as modular unit and be applied to various tele-robotic systems.This structural design, be easy to expand its practical ranges.
The distant operating means of the present invention can send detected displacement information to the main control computer of robot system in real time by communication interface; When as mancarried device, independently using, can obtain from the video information of end robot by the LCD MODULE on shell body.In addition, memory module of the present invention can record in the process of working online information such as position, moment detected, is convenient to after off-line survey data analysis and management.
The distant operating means of the present invention can be realized the power that designs feel telepresenc operating function fully, has improved the operating efficiency of robot.
The present invention does not address part and is applicable to prior art.
Claims (3)
1. one kind has power and feels telepresenc
-DOF teleoperation of robot device, is characterized in that this distant operating means comprises casing, operating grip, supporting construction, LCD MODULE, control panel, direct current generator, surface-mounted integrated circuit and angular displacement sensor; Described casing is except upper plate, and other each face is complete, sealing all, and LCD MODULE and control panel are installed on the casing upper plate, and a hole that is used for the fitting operation handle is arranged; Described operating grip comprises little cambered axle, upper hopper chute, large cambered axle, gliding groove, Handle axis, axle upper sphere, fastening cover, square locating piece and bat-handle switch button; The bat-handle switch button is positioned at the top of Handle axis; Described supporting construction comprises large cambered axle electric machine support, little cambered axle electric machine support, large cambered axle gripper shoe, little cambered axle gripper shoe and supports spherical shell; Described supporting construction is positioned at box house, each of large cambered axle electric machine support, little cambered axle electric machine support, large cambered axle gripper shoe, little cambered axle gripper shoe, be quadrangular array in casing, the quadrangle opposite side is dissimilar, large cambered axle electric machine support opposite side is large cambered axle gripper shoe, little cambered axle electric machine support opposite side is little cambered axle gripper shoe, and an axis hole that is used for installing cambered axle is all arranged on every block of plate, supports spherical shell and is positioned at the inboard of casing upper plate; Described support spherical shell is to have the penetrating imperfect empty spherical shell of axle upper sphere maximum gauge and up and down; The footstalk at little cambered axle two ends, be arranged in little cambered axle electric machine support in supporting construction, the axis hole on little cambered axle gripper shoe respectively, the footstalk at large cambered axle two ends, be arranged on respectively in the axis hole of the large cambered axle electric machine support in supporting construction, large cambered axle gripper shoe, the two cambered axles footstalk line at two ends separately are the state of intersecting vertically, and intersection point is positioned on the center line of Handle axis; Each cambered axle footstalk two ends, be arranged on the overhung crank on gripper shoe angular displacement sensor be housed, and on the electric machine support of other end crank below, direct current generator is installed; Described two direct current generators lay respectively on large cambered axle electric machine support and little cambered axle electric machine support; The angle that described direct current generator rotates is detected by the angular displacement sensor of the other end that is arranged on same cambered axle footstalk respectively; The fulcrum ball valve jacket is played a supporting role on Handle axis and to Handle axis, the axle upper sphere is connected in the mode that is similar to the secondary form of ball with supporting between spherical shell;
Described Handle axis becomes with three axis of little cambered axle and large cambered axle that space is orthogonal intersects, and intersection point is the centre of sphere of axle upper sphere and 3 overlapping positions in the center of circle of little cambered axle, large cambered axle semi-circular ring, the square locating piece of Handle axis bottom installation; Only three axis become space orthogonal crossing when operating grip is not worked, and after operating grip work, three axis become space intersection, and little cambered axle intersects vertically all the time with large cambered axle two axial lines; Be processed with the annular chute on the semi-circular ring of little cambered axle and large cambered axle, when operating grip swings, can slide in the lower end of Handle axis in the annular chute;
Described control panel comprises that power switch, feedback force ratio setting button, ratio are set up and puts button, ratio and reduce and put button and storage arranges button; Described surface-mounted integrated circuit comprises circuit substrate, MCU processor unit, signals collecting and conditioning module, memory module, power module, communication module and A/D modular converter;
The angular displacement sensor of the footstalk both sides of described little cambered axle and the cambered axle of being connected is connected by electric wire with surface-mounted integrated circuit with direct current generator; The signals collecting of two direct current generators and control and regulation are completed by the MCU processor unit on surface-mounted integrated circuit, electric connecting relation is: angular displacement sensor---signals collecting and conditioning module---A/D modular converter---MCU processor unit---communication module; Memory module directly is connected with the MCU processor unit, and power module is connected with all components and parts that need to power;
After the function of described signals collecting and conditioning module is that the small-signal of diagonal displacement sensor output is amplified, filtering processes, send into the A/D modular converter, convert to after data signal and be input to the MCU processor unit and process accordingly; Power module is responsible for supply capability; Memory module adopts independently memory of outside, records work online parameter information in process of described tele-robotic system, is convenient to after off-line survey data analysis and management; The main control computer that communication module is responsible for distant operating means and robot carries out communication, institute's measurement information is transferred to the robot main control computer in real time, so that robot makes corresponding decision according to task; Communication module has adopted the communication interface of standard, is serial ports or USB interface;
Be designed with power switch button on described control panel, the feedback force ratio is set button, and ratio increases button, and ratio subtracts button and storage arranges button.
2. the power of having according to claim 1 is felt telepresenc
-DOF teleoperation of robot device, is characterized in that the rotation mutually noninterfere of described little cambered axle and large cambered axle, and motion is decoupling zero; When little cambered axle all rotated with large cambered axle, the position of operating grip was determined by both synthetic results.
3. the power of having according to claim 1 is felt telepresenc
-DOF teleoperation of robot device, is characterized in that being set with dust cover on Handle axis, and dust cover is between casing upper plate and fastening cover.
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