CN105116961B - Intelligent force feedback handle and control method thereof - Google Patents
Intelligent force feedback handle and control method thereof Download PDFInfo
- Publication number
- CN105116961B CN105116961B CN201510431214.9A CN201510431214A CN105116961B CN 105116961 B CN105116961 B CN 105116961B CN 201510431214 A CN201510431214 A CN 201510431214A CN 105116961 B CN105116961 B CN 105116961B
- Authority
- CN
- China
- Prior art keywords
- axis
- handle
- motor
- bevel gears
- inside casing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses an intelligent force feedback handle and a control method thereof. The handle comprises an X-axis rotation part, a Y-axis rotation part, and a Z-axis rotation part. The X-axis rotation part comprises an inner frame and an X-axis driving device for driving the inner frame to rotate about the X axis. The Y-axis rotation part comprises a center cylinder and a Y-axis driving device for driving the center cylinder to rotate about the Y axis. The Z-axis rotation part comprises a handle operation lever and a Z-axis driving device for driving the handle operation lever to rotate about the Z axis. The center cylinder is rotationally arranged in a hollow frame body of the inner frame, and the rotation direction of the center cylinder and the rotation direction of the inner frame are perpendicular to each other. The handle operation lever is rotationally arranged inside the center cylinder around the axis, and the handle operation lever and the center cylinder are coaxial. The size of the handle is optimized, and the method achieves an intelligent damping control effect and an automatic reset effect.
Description
Technical field
The present invention is a kind of force feedback equipment of intelligentized Three Degree Of Freedom, is mainly used in space flight, deep-sea or people is had
In evil environment, robot control and field of virtual reality, can measure rotational angle and provide force teleprence.
Background technology
With the extensive application of interactive teleoperation robot and virtual reality technology, newly go out
The such as remote teaching of existing practical technique, tele-medicine, and virtual reality technology etc. are to the very strong of telepresenc robot technology
Dependence so that high performance human-computer interface device is particularly important.Force feedback operating device is used as common a kind of man-machine
Interface, it can acquisition operations person's arm posture information as control instruction, generate control command control far-end operation object or
The motion of person's virtual objects, and realize that the power that object is passed back feels that information directly generates the feedback force or torque for acting on staff, it is
Operator produces remote floor-washing robot scene or virtual robot scene force teleprence effect on the spot in person.In recent years, power is anti-
Feedback hand controller has become the study hotspot of various countries scientific research personnel, and American-European countries has had as Omega and Delta
Maturation force feedback equipment launch, and be in world lead level, the domestic research to force feedback equipment is also achieved
It is significant to be in progress.General device for force feedback can be divided into tandem device for force feedback, and parallel device for force feedback, series parallel type power are anti-
Feedback device.The characteristics of tandem force feedback equipment is open-chain structure, and rigidity is poor yielding, is not likely to produce larger feedback force；
Parallel force feedback equipment inertia is low, has very big advantage on rigidity, precision, back drive-ability, but a disadvantage is that volume
It is larger；And series parallel type force feedback equipment then combines the advantage of series and parallel, while volume is also than larger.Propose at present
Many force feedback operating devices be not provided with intelligentized control method effect, can not for example realize automatically reseting.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of intelligent force feedback handle
And its control method, the rotational angle in three directions can be measured, there is provided feedback force, and export multidimensional manipulation force information, hand
Handle itself realizes gravity self-balancing, by Based Intelligent Control, can realize automatically reseting and the intelligent functions such as damping control.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of intelligent force feedback handle, including X-axis rotating part, Y-axis rotating part and Z axis rotating part；The X-axis
Rotating part includes inside casing and drives the X-axis driving means that turn about the X axis of inside casing, the Y-axis rotating part include central tube and
The Y-axis driving means for driving central tube to rotate around Y-axis, the Z axis rotating part include that lever handle and driving handle are manipulated
The Z axis driving means that bar is turned about the Z axis, the central tube are rotatably arranged in the hollow frame of interior inframe, and central tube with it is interior
Frame rotation direction is mutually perpendicular to, the lever handle inside the centrally disposed cylinder of its axis rotation, and lever handle with
Central tube is coaxial.
Further, the X-axis driving means include two X connecting shafts, X bevel gear groups, X decelerators and X-motor, described
The two side ends of inside casing are rotated by corresponding X connecting shafts respectively and are erected on support, and two X connecting shafts axis are on a straight line
And overlap with X-axis, wherein X connecting shafts in side are installed with X bevel gears group through support and are connected, and the X bevel gears group is slowed down by X
Device is connected with X-motor output end；X-motor drives inside casing to turn about the X axis；The Y-axis driving means include two Y connecting shafts, Y umbrellas
Gear train, Y decelerators and Y-motor, the two side walls of the central tube are rotated by corresponding Y connecting shafts respectively and are erected inside casing
Internal face, two Y connecting shafts axis overlap on a straight line and with Y-axis, and wherein Y connecting shafts in side pass through inside casing and Y umbrellas
Gear train installs connection, and the Y bevel gears group is connected with Y-motor output end by Y decelerators；Y-motor is driven including central tube
Inframe is rotated around Y-axis；The Z axis driving means include Z motors, Z decelerators and lever handle, and the inside of the central tube sets
The Z motors being coaxial therewith to, axle center are equipped with, the output end of Z motors is connected with lever handle bottom position by Z decelerators；Z
Motor drive lever handle is turned about the Z axis.
Further, the X-motor tail end is provided with X-ray photoelectric coder, and Y-motor tail end is provided with Y photoelectric encoders, Z
The afterbody of motor is provided with Z photoelectric encoders.
Further, the lever handle centre position is provided with four axial force sensors, is able to measurement left and right pendulum
Dynamic power, the power of swing, along torque and the pressure of above-below direction of Z axis rotation, the apical position of the lever handle
It is connected with pallet and handle from the bottom to top in turn, touch sensor is installed on the handle；Z Motor drive lever handle bands
Dynamic four axial force sensors, pallet and handle are turned about the Z axis.
Further, the XOY plane that the X-axis rotating part and Y-axis rotating part are formed, in the Z axis rotating part,
Gravity above XOY plane is equal with the gravity below XOY plane.
Further, the X bevel gears group includes X bevel gears one and X bevel gears two, the X bevel gears one and X bevel gears
Two mutual vertical-transmission connections；The Y bevel gears group includes Y bevel gears one and Y bevel gears two, the Y bevel gears one and Y umbrella teeth
Take turns two mutual vertical-transmission connections.
Further, in Y-axis driving means, opposite side Y connecting shafts are connected with counterweight, the counterweight and Y through inside casing
Motor is symmetrical with regard to central tube, and the gravity that the gravitational equilibrium Y-axis driving means of the counterweight are brought is disturbed.
Hand is placed in operation handle on pallet by a kind of control method of intelligent force feedback handle, operator, and described four
Actual force or torque around X-axis, Y-axis and Z axis that axial force sensor measurement operator applies respectively to hand handle control stick,
Actual force or torque are done into difference with theoretical required power or torque, and difference is input into PID controller, by PID
Controller control X-motor, Y-motor and Z motor output driving power or torque.
Further, by X-ray photoelectric coder, Y photoelectric encoders and Z photoelectric encoders measure trigger rod X-axis,
Angle on three directions of Y-axis and Z axis, so as to calculate velocity of rotation, draws the damping force or power of needs proportional thereto
Square, it would be desirable to damping force or torque and actually measured active force or torque ask poor, and difference is input into PID controller,
X-motor, Y-motor and Z motor output driving power or torque, the damping force that as handle is subject to are controlled by PID controller.
Further, operator's hand release handle, the power that the touch sensor on handle is detected is zero, and starting handle is multiple
Bit pattern；When the power that four axial force sensors detect above-below direction is not zero, i.e., hand is still placed on pallet, is entered and is resetted at a slow speed
Pattern, when four axial force sensors do not detect that hand is still placed on pallet, into Rapid reset pattern；The X-ray photoelectric coder, Y
Difference is done with origin position in the reality output position of photoelectric encoder and the collection of Z photoelectric encoders, and difference is input into PID controls
Device processed, controls X-motor, Y-motor and Z Motor drives trigger rod by PID controller and resets.
Beneficial effect：Advantage of the present invention is as follows：
1st, using the power and the torque for turning about the Z axis around four axial force sensor direct measurements, with PID closed loop controls
The method power output of system or torque, reduce error, improve the accuracy of power output or torque.
2nd, using Based Intelligent Control damping mode, the damping and the speed of operation handle that operator experiences is directly proportional, and prevents
During operator's operation handle, damping makes greatly very much operator produce sense of fatigue, or damps too little so that operator's service speed mistake
Hurry up, be conducive to operator's precise control.
3rd, judge whether operator holds handle according to touch sensor, when operator holds handle, handle is in work
Operation mode, when operator decontrols handle, handle is in reset mode, can be carried out according to the position signalling that photoelectric encoder is measured
Outgoing position carries out PID control, realizes zero and reset of the handle on locus.Four axial force sensors can be measured
The power of above-below direction, that is, pressure of operator's hand to pallet, judge operator whether by hand placement on pallet, when
Operator's hand is placed on pallet, without holding during handle, realizes the reset of slower speed, when operator's hand is not placed on support
On disk, and per page is held handle, realizes the very fast reset read.
4th, mechanism is simple, and reasonable in design, easy to operate, the arrangement of motor position greatlys save space, realizes intelligence
Handle realizes miniaturization.
5th, in the motion in each direction all without the motion for having influence on other directions, the motion on three degree of freedom is or not handle
Decoupling is needed, control algolithm is simplified.The space of handle hand position is the sphere with decreased food as radius, space bit
Put the angle map rotated with the free degree in three directions to uniquely determine, there is no singular point.
Description of the drawings
Fig. 1 is intelligent force feedback handle transmission mechanism stereogram；
Fig. 2 is the front view of intelligent force feedback handle schematic diagram；
Fig. 3 is the right view of intelligent force feedback handle schematic diagram；
Fig. 4 is control principle drawing of the intelligent force feedback handle under force feedback pattern；
Fig. 5 is control principle drawing of the intelligent force feedback handle under mutative damp pattern；
Fig. 6 is control principle drawing of the intelligent force feedback handle under reset mode.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further described.
It is a kind of intelligent force feedback handle as shown in Figure 1,2 and 3, including X-axis rotating part, Y-axis rotating part and Z axis
Rotating part；The X-axis driving means that the X-axis rotating part includes inside casing 5 and drives inside casing 5 to turn about the X axis, the Y-axis turn
The Y-axis driving means that dynamic part includes central tube 6 and drives central tube 6 to rotate around Y-axis, the Z axis rotating part include handle
The Z axis driving means that control stick 24 and driving handle control stick 24 are turned about the Z axis, the central tube 6 are rotatably arranged in inside casing 5
Hollow frame in, and central tube 6 is mutually perpendicular to 5 rotation direction of inside casing, and the lever handle 24 is set around its axis rotation
Put inside central tube 6, and lever handle 24 is coaxial with central tube 6.
Specifically, the X-axis driving means include two X connecting shafts 28, X bevel gear groups, X decelerators 10 and X-motor 8,
The two side ends of the inside casing 5 are rotated by corresponding X connecting shafts 28 and ring flange respectively and are erected on 4 upper shaft hole of support, by axle
Hold support and realize dynamic fit so that inside casing 5 can be turned about the X axis；Wherein side X connecting shafts 28 are through support 4 and X bevel gears
Group installs connection, and the X bevel gears group includes X bevel gears 1 and X bevel gears 2 12, the X bevel gears 1 and X bevel gears
2 12 are mutually perpendicular to be connected；The X bevel gears group is connected with 8 output end of X-motor by X decelerators 10, the X-motor tail
End is provided with X-ray photoelectric coder 9, and X-motor 8 drives inside casing 5 to turn about the X axis.
The Y-axis driving means include two Y connecting shafts 34, Y bevel gear groups, Y decelerators 16 and Y-motor 14, it is described in
The two side walls of heart cylinder 6 rotate the axis hole of the internal face for being erected inside casing 5 respectively by corresponding Y connecting shafts 34 and ring flange
On, dynamic fit is realized by bearings, 34 axis of two of which Y connecting shaft overlaps on a straight line and with Y-axis so that in
Heart cylinder 6 can be rotated around Y-axis, and wherein side Y connecting shafts 34 are installed with Y bevel gears group through inside casing 5 and are connected, the Y bevel gears
Group includes that Y bevel gears 1 and Y bevel gears 2 18, the Y bevel gears 1 and Y bevel gears 2 18 are mutually perpendicular to be connected,
The Y bevel gears group is connected with 14 output end of Y-motor by Y decelerators 16, and Y-motor tail end is provided with Y photoelectric encoders 15, Y
Motor 14 drives central tube 6 to rotate around Y-axis in inside casing 5.
The Z axis driving means include Z motors 20, Z decelerators 22 and lever handle 24, the inside of the central tube 6
The Z motors 20 being coaxial therewith to, axle center are provided with, the output end of Z motors 20 is by Z decelerators 22 and 24 bottom of lever handle
Position connects, and the afterbody of Z motors is provided with Z photoelectric encoders 21, and 20 driving handle control stick 24 of Z motors is turned about the Z axis.
24 centre position of the lever handle is provided with four axial force sensors 25, is able to measure what is swung
Power, the power of swing, along torque and the pressure of above-below direction of Z axis rotation, the apical position of the lever handle 24 by
Under it is supreme be connected with pallet 42 and handle 26 in turn, touch sensor 27 is installed, for determining whether on the handle 26
Operator begins to use handle, when the light handle 26 of operator, will produce certain force signal, and otherwise force signal is zero.Its
In the power of above-below direction measured of four axial force sensors 25 for judging whether operator puts hand on pallet 42.Z motors 20
Driving handle control stick 24 drives four axial force sensors 25, pallet 42 and handle 26 to turn about the Z axis.
The XOY plane that the X-axis rotating part and Y-axis rotating part are formed, in the Z axis rotating part, on XOY plane
The gravity of side is equal with the gravity below XOY plane.In Y-axis driving means, opposite side Y connecting shafts 34 connect through inside casing 5
There are counterweight 23, the counterweight 23 and Y-motor 14 symmetrical with regard to central tube 6, the gravitational equilibrium Y-axis driving means band of the counterweight 23
The gravity interference for coming.
Hand is placed in operation handle 26 on pallet 42, institute by a kind of control method of intelligent force feedback handle, operator
State the practical function around X-axis, Y-axis and Z axis that the measurement operator of four axial force sensor 25 applies respectively to hand handle control stick 24
Actual force or torque are done difference with theoretical required power or torque, and difference are input into PID control by power or torque
Device, controls X-motor 8, Y-motor 14 and 20 output driving power of Z motors or torque by PID controller.
Further, trigger rod is measured by X-ray photoelectric coder 9, Y photoelectric encoders 15 and Z photoelectric encoders 21
24 angles on X-axis, three directions of Y-axis and Z axis, so as to calculate velocity of rotation, draw the damping force being directly proportional to speed
Or torque, damping force or torque and actual force or torque are asked into poor, and difference is input into PID controller, controlled by PID
Device control X-motor 8 processed, Y-motor 14 and 20 output driving power of Z motors or torque.
Operator's release handle 26, the power that the touch sensor 27 on handle 26 is detected is zero, starting handle reset mould
Formula；When the detection hand of four axial force sensor 25 is still placed on pallet 42, enter reset mode at a slow speed, when four axial force sensors 25 not
Detection hand is still placed on pallet 42, into Rapid reset pattern；
The reality output position of the X-ray photoelectric coder 9, Y photoelectric encoders 15 and Z photoelectric encoders 21 collection and origin
Difference is done in position, and difference is input into PID controller, controls X-motor 8, Y-motor 14 and Z motors 20 by PID controller and drives
Fixed handle action bars 24 resets.
Concrete to introduce, the control program in the present invention under force feedback mode of operation adopts closed-loop control, control principle such as Fig. 4
It is shown.Four axial force sensors 25 on trigger rod 24 measure the power or torque of the reality in all directions in real time, obtain
To power or torque suffered by operator, its value with the power of required feedback in theory is made into difference, and difference is input to
In PID controller, the output current of each motor, electric current motor are controlled by PID controller so as to export stable power
Or torque, that is, power required in theory or torque.Wherein, the power output according to X-motor 8, Y-motor 14 and Z motors 20
The length of square, the size of speed reducing ratio and trigger rod 24 can calculate output torque or power in all directions.
When operator holds handle 26 to move, in order to prevent damping during operator's operation handle from produce greatly very much operator
Sense of fatigue, or damp too little so that operator's service speed is too fast, it is impossible to the effect of precise control is reached, the present invention adopts intelligence
Damping mode can be controlled, the control principle of mutative damp pattern is as shown in Figure 5.The damping experienced during operator's operation handle and behaviour
The speed for making handle is directly proportional, and the relation between them is can be expressed as with formula For damping force,For operator
The speed of control crank.Output to damping force equally adopts pid control algorithm.Handle is measured at three by photoelectric encoder
The angle rotated in the free degree, so as to calculate the speed of rotation, according to damping force above and the relation of velocity of rotation, can draw
Required damping force.Do difference again with power required for theory after required damping force and actual force summation, and by difference be input into
PID controller, controls X-motor 8,20 output driving power of Y-motor 14 and Z motors by PID controller.
When operator holds handle, the touch sensor 27 on handle can export force signal, now intelligent hand
Handle is located at mode of operation, in the stage of operator's control crank motion.Such as Fig. 6, this smart handle can also be realized automatically multiple
The function of position, the mode of operation that automatically resets are divided into very fast reset and relatively slow reset.When manipulator decontrols handle, touching on handle
Feel that the power that sensor 27 is measured is zero；When four axial force sensor 25, hand is placed on pallet 42, at handle by detection operator
In slower reset mode, when four axial force sensors 25 do not detect that hand is placed on pallet 42 by operator, handle is in very fast
Reset mode.On here basis, hand is measured according to four axial force sensors 25 and the pressure of pallet 42 can be realized controlling hand
The reset speed of handle.During concrete reset, information of the smart handle according to the real-time each photoelectric encoder for reading drives each motor to turn
It is dynamic, make trigger rod 24 move to initial position and stop, realize the reset of smart handle.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of intelligent force feedback handle, it is characterised in that：Including X-axis rotating part, Y-axis rotating part and Z axis rotation section
Point；The X-axis driving means that the X-axis rotating part includes inside casing (5) and drives inside casing (5) to turn about the X axis, the Y-axis are rotated
The Y-axis driving means that part includes central tube (6) and drives central tube (6) to rotate around Y-axis, the Z axis rotating part include hand
The Z axis driving means that handle control stick (24) and driving handle control stick (24) are turned about the Z axis, described central tube (6) are rotated and are arranged
In the hollow frame in inside casing (5), and central tube (6) is mutually perpendicular to inside casing (5) rotation direction, the lever handle
(24) it is internal around the centrally disposed cylinder of its axis rotation (6), and lever handle (24) is coaxial with central tube (6)；
The X-axis driving means include two X connecting shafts (28), X bevel gear groups, X decelerators (10) and X-motor (8), described interior
The two side ends of frame (5) are rotated by corresponding X connecting shafts (28) respectively and are erected on support (4), two X connecting shafts (28) axis
Overlap on a straight line and with X-axis, wherein side X connecting shafts (28) are installed with X bevel gears group through support (4) and are connected, institute
State X bevel gears group to be connected with X-motor (8) output end by X decelerators (10)；X-motor (8) drives inside casing (5) to turn about the X axis；
The Y-axis driving means include two Y connecting shafts (34), Y bevel gear groups, Y decelerators (16) and Y-motor (14), described
The two side walls of central tube (6) rotate the internal face for being erected inside casing (5) by corresponding Y connecting shafts (34) respectively, and two Y connect
Spindle (34) axis overlaps on a straight line and with Y-axis, and wherein side Y connecting shafts (34) are through inside casing (5) and Y bevel gear groups
Connection is installed, the Y bevel gears group is connected with Y-motor (14) output end by Y decelerators (16)；Y-motor (14) drives center
Cylinder (6) is rotated around Y-axis in inside casing (5)；
The Z axis driving means include Z motors (20), Z decelerators (22) and lever handle (24), central tube (6)
The Z motors (20) being coaxial therewith to, axle center are internally provided with, the output end of Z motors (20) is grasped with handle by Z decelerators (22)
Vertical pole (24) bottom position connects；Z motors (20) driving handle control stick (24) is turned about the Z axis；
Lever handle (24) centre position is provided with four axial force sensors (25), is able to measure what is swung
Power, the power of swing, along torque and the pressure of above-below direction of Z axis rotation, the apical position of lever handle (24)
It is connected with pallet (42) and handle (26) from the bottom to top in turn, touch sensor (27) is installed on handle (26)；Z motors
(20) driving handle control stick (24) drives four axial force sensors (25), pallet (42) and handle (26) to turn about the Z axis.
2. a kind of intelligent force feedback handle according to claim 1, it is characterised in that：The X-motor tail end is provided with X-ray
Photoelectric coder (9), Y-motor tail end are provided with Y photoelectric encoders (15), and the afterbody of Z motors is provided with Z photoelectric encoders (21).
3. a kind of intelligent force feedback handle according to claim 1, it is characterised in that：The X-axis rotating part and Y-axis turn
The XOY plane that dynamic part is formed, the gravity phase in the Z axis rotating part, below the gravity above XOY plane and XOY plane
Deng.
4. a kind of intelligent force feedback handle according to claim 1, it is characterised in that：The X bevel gears group includes X umbrella teeth
Wheel one (11) and X bevel gears two (12), the X bevel gears one (11) and X bevel gears two (12) are mutually perpendicular to be connected；It is described
Y bevel gear groups include Y bevel gears one (17) and Y bevel gears two (18), two (18) phase of the Y bevel gears one (17) and Y bevel gears
Mutually vertical-transmission connection.
5. a kind of intelligent force feedback handle according to claim 1, it is characterised in that：In Y-axis driving means, opposite side
Y connecting shafts (34) are connected with counterweight (23) through inside casing (5), and counterweight (23) are right with regard to central tube (6) with Y-motor (14)
Claim, the gravity that the gravitational equilibrium Y-axis driving means of counterweight (23) are brought is disturbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510431214.9A CN105116961B (en) | 2015-07-21 | 2015-07-21 | Intelligent force feedback handle and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510431214.9A CN105116961B (en) | 2015-07-21 | 2015-07-21 | Intelligent force feedback handle and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105116961A CN105116961A (en) | 2015-12-02 |
| CN105116961B true CN105116961B (en) | 2017-03-22 |
Family
ID=54664979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510431214.9A Active CN105116961B (en) | 2015-07-21 | 2015-07-21 | Intelligent force feedback handle and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105116961B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105786190B (en) * | 2016-05-04 | 2019-04-26 | 北京三十四科技有限公司 | A kind of three-dimensional interactive system |
| CN106020463B (en) * | 2016-05-16 | 2018-09-11 | 上海工程技术大学 | A kind of Three Degree Of Freedom operating mechanism for touch feedback |
| DE102016114697B4 (en) * | 2016-08-09 | 2018-03-01 | Behr-Hella Thermocontrol Gmbh | Operating unit for a device, in particular for a vehicle component |
| CN106601070A (en) * | 2016-12-16 | 2017-04-26 | 中仿智能科技（上海）股份有限公司 | Aircraft side stick simulation device |
| CN107239095B (en) * | 2017-05-31 | 2018-07-31 | 东南大学 | A kind of power feels the three-dimensional revolving gear of feedback and rotation attitude measurement |
| CN107030715B (en) * | 2017-06-12 | 2019-05-03 | 重庆乐铠机器人技术开发有限责任公司 | A kind of multiple degrees of freedom weapon control device of game robot |
| CN107255157B (en) * | 2017-07-13 | 2022-11-11 | 大连耐驰机械电子设备有限公司 | Intelligent drive-by-wire control handle capable of being coded at will and having functions of stopping and returning to neutral position |
| CN107560777B (en) * | 2017-07-31 | 2019-07-30 | 东南大学 | Based on the three-dimensional force feedback handle restoring force control structure of power/torque sensor and method |
| CN109669554B (en) * | 2018-10-18 | 2022-03-08 | 苏州佳世达电通有限公司 | Gesture recognition method for touch rod body |
| CN109491505B (en) * | 2018-11-13 | 2021-01-12 | 天津城建大学 | Percussion instrument playing simulation system and force feedback device based on virtual reality technology |
| CN109613938A (en) * | 2019-01-10 | 2019-04-12 | 南京感控通化工产品经营部 | A kind of personal control multistage speed adjusting method |
| CN111359202B (en) * | 2020-02-28 | 2023-12-26 | 歌尔科技有限公司 | Game paddle and rocker feedback force device thereof |
| CN111346368A (en) * | 2020-02-28 | 2020-06-30 | 歌尔科技有限公司 | Game paddle and rocker feedback force device thereof |
| CN113012516B (en) * | 2021-03-11 | 2022-12-20 | 东南大学 | Three-freedom-degree force feedback handle comprising two vertically-staggered shafts |
| CN114227638B (en) * | 2021-11-29 | 2023-11-28 | 广州市微眸医疗器械有限公司 | Master-slave mapping method and correction method for robot operating lever and robot |
| CN114442731B (en) * | 2021-12-31 | 2023-11-03 | 连云港杰瑞电子有限公司 | Spherical surface sealing type three-degree-of-freedom operating lever |
| CN115227390B (en) * | 2022-06-30 | 2023-03-28 | 中国科学院自动化研究所 | Robot main manipulator |
| CN115354860A (en) * | 2022-09-22 | 2022-11-18 | 三一汽车制造有限公司 | Arm support control system, arm support control method and vehicle |
| CN115903997A (en) * | 2022-11-10 | 2023-04-04 | 燕山大学 | Control handle touch reappearance control method without external force sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5182557A (en) * | 1989-09-20 | 1993-01-26 | Semborg Recrob, Corp. | Motorized joystick |
| CN102249003A (en) * | 2011-05-17 | 2011-11-23 | 中国商用飞机有限责任公司 | Side rod control device |
| CN103034282A (en) * | 2011-09-22 | 2013-04-10 | 霍尼韦尔国际公司 | Active feedback user interface system and gimbal assembly therefor |
| CN103406908A (en) * | 2013-07-31 | 2013-11-27 | 北京邮电大学 | Force feedback hand controller with three degrees of freedom rotation |
| CN103753519A (en) * | 2014-01-13 | 2014-04-30 | 东南大学 | Platform mechanism focusing on calibration method of three degree of freedom force feedback hand controller |
| CN104106020A (en) * | 2012-03-01 | 2014-10-15 | 奥迪股份公司 | Operating element, particularly for a motor vehicle |
-
2015
- 2015-07-21 CN CN201510431214.9A patent/CN105116961B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5182557A (en) * | 1989-09-20 | 1993-01-26 | Semborg Recrob, Corp. | Motorized joystick |
| CN102249003A (en) * | 2011-05-17 | 2011-11-23 | 中国商用飞机有限责任公司 | Side rod control device |
| CN103034282A (en) * | 2011-09-22 | 2013-04-10 | 霍尼韦尔国际公司 | Active feedback user interface system and gimbal assembly therefor |
| CN104106020A (en) * | 2012-03-01 | 2014-10-15 | 奥迪股份公司 | Operating element, particularly for a motor vehicle |
| CN103406908A (en) * | 2013-07-31 | 2013-11-27 | 北京邮电大学 | Force feedback hand controller with three degrees of freedom rotation |
| CN103753519A (en) * | 2014-01-13 | 2014-04-30 | 东南大学 | Platform mechanism focusing on calibration method of three degree of freedom force feedback hand controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105116961A (en) | 2015-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105116961B (en) | Intelligent force feedback handle and control method thereof | |
| CN104972465B (en) | Robot controller and robot system for moving robot in response to force | |
| CN106828643B (en) | A kind of omni-directional movement ball shape robot | |
| CN206732997U (en) | Organ removing manipulator, arm | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN103406908A (en) | Force feedback hand controller with three degrees of freedom rotation | |
| CN202480102U (en) | Three-dimensional sensing and controlling mechanical arm | |
| CN105416589B (en) | Rope pulling type control device and control method for quad-rotor unmanned aerial vehicle | |
| CN103737582A (en) | High-precision advanced welding robot mechanism with six degrees of freedom | |
| CN204076245U (en) | A kind of snake-shaped robot | |
| CN207895756U (en) | A kind of three flywheel cube reversible pendulum systems | |
| CN105302148B (en) | The gyroscope type single wheel car robot system of self-balancing can be achieved | |
| CN106363624A (en) | Flexible cable parallel mechanical arm system with self-weight balance device and control method of flexible cable parallel mechanical arm system | |
| CN105171725A (en) | Joint robot with motion assisting device | |
| CN204856212U (en) | Four rotors flight system | |
| CN103921949A (en) | Autonomous quad-rotor flight vehicle based on Renesas chip R5F100LEA | |
| CN105215992B (en) | Multiple degrees of freedom power for man-machine interaction feels feedback device | |
| CN105690400A (en) | Interactive consultation and event multi-purpose simulation robot and expert consultation system thereof | |
| CN206817119U (en) | Twin shaft electrical turntable for photoelectric sensor | |
| CN103600351A (en) | Six-axis-force-torque transducer based six-freedom-degree robot operating system and control method thereof | |
| CN105904456A (en) | Handheld force feedback device and force sense reproduction method using same | |
| CN105549592A (en) | Intelligent spherical robot with fault tolerance control and control method of robot | |
| CN204527555U (en) | Intelligence salvor | |
| CN202702239U (en) | Six-freedom-degree mechanical arm device for teaching | |
| CN205353765U (en) | Six rotors flight system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20151202 Assignee: Jiangsu Siming Engineering Machinery Co., Ltd. Assignor: Southeast University Contract record no.: 2019320000049 Denomination of invention: Intelligent force feedback handle and control method thereof Granted publication date: 20170322 License type: Exclusive License Record date: 20190321 |
|
| EE01 | Entry into force of recordation of patent licensing contract |