一个七自由度带力反馈的遥操作主手的开发

Development of a 7-DOF Teleoperation Manipulator with Force-feedback

本文展示了一个机器人系统中具有力反馈(Haptic/Force Feedback)功能的遥操作主手的开发。此主手具有七自由度的串联结构,并集成了多个电机以提供力反馈。通过ROS(Robot Operating System)的Rviz仿真环境进行了运动学验证。详述了算法开发过程,如运动学、雅克比矩阵、可操作性、正逆动力学。逆动力学计算的结果可以提供跟力控相关的功能,如重力补偿。通过以上工作,此主手不仅可以作为遥操作的输入端,而且可以将外界的接触力反馈回主手,使其成为一个双向遥操作仪器(Bilateral Teleoperation Device)。因此它可以成为机器人遥操作场景下,尤其是机器人辅助微创手术RAMIS(Robot-assisted Minimally Invasive Surgery)中重要的遥操作工具。

This paper demonstrated the development of a teleoperated master hand with the function of Haptic/Force Feedback in a robot system. Designed with 7 degrees of freedom(DOF), this serial manipulator has multiple motors integrated to provide force-feedback. Rviz simulation environment in ROS(Robot Operating System) was utilized to verify the kinematics of this manipulator. Algorithms, such as kinematics, Jacobian matrix, manipulability, forward/inverse dynamics were detailed. The inverse dynamics can be used to achieve functionalities related with force-feedback, such as gravity compensation. With the above work, this manipulator can serve as the input in teleoperations, and provide haptics feedback, making it a Bilateral Teleoperation Device. Therefore, it can play an important role in robotic teleoperation, especially in Robot-assisted Minimally Invasive Surgery(RAMIS).