Research on flexible master manipulator method and high-precision force feedback strategy for high-risk operations

摘要

Abstract High-risk operating scenarios such as explosive and propellant shaping are characterized by complex, changeable environments, unstable states of operation targets, along with attendant explosion risks. These factors have severely restricted the application of teleoperated robots in high-risk industries. Aiming at the problems of insufficient feedback force accuracy and poor safety of master manipulators in high-risk operations, this paper proposes a flexible force feedback master manipulator and a high-precision force feedback control scheme. In terms of structural design, combined with the theory of SEA (series elastic actuator), elastic components are incorporated into the force feedback mechanism of the master manipulator, enabling precise control of the output force and enhancing the safety of physical human-robot interaction. In terms of the control strategy, based on the classical bilateral control strategy, the parameters of the controller are optimized through the improved neural network, improving the feedback force accuracy. Finally, the effectiveness of this scheme is verified through systematic simulations and experiments. Experimental results indicate that the designed flexible force-feedback master manipulator meets the operational requirements of high-risk industries, with its feedback force accuracy exceeding 90%, offering a new reference for the advancement of teleoperation technology in high-risk operational fields.