The force feedback instrument based on stepper motor drive and its application in underwater teleoperation

摘要

A force feedback instrument of stepper motor driver in teleoperation system is proposed for the poor sence of force telepresence in underwater robot teleoperation, and the reproduction of standard force signal is achieved on the instrument by force-displacement hybrid control. The single-degree-of-freedom teleoperation system is constructed according to the force feedback instrument, and the force and displacement tracking experiments are verified by the master-slave PID control with state observer. The results show that the force feedback instrument is simple and easy to control by the precise position control of the stepper motor. The single-degree-of-freedom teleoperation system satisfies the characteristics of force signal teleprence and the phenomenon of sizing and holding on in teleoperation. The sample with different stiffness capture and the arbitrary teleoperation under the allowable space is achieved in the teleoperation system. The overall system has a good transparency, stability.