测控技术2018，Vol.37Issue(5)：79-83,5.
一种三维力反馈训练仿真控制系统设计
A 3-DOF Force Feedback Training Simulation Control System
摘要
Abstract
Space extravehicular missions require researchers' teleoperation on the control platform.In consideration of the high development costs of the station's robotic arm,the difficulty of the scene debugging and the high risk,a design of 3-DOF force feedback for the station's robotic arm training simulation control system is presented.The working principle,hardware and software design of the system are introduced in detail.The force feedback handle of the system has three degrees of freedom,which fully simulates the operating space.The transmission of the position information and force feedback information is implemented by microcontroller STM32 and computer.The results show the simulation function of the system and verify the reliability of the system hardware and software.A feasible virtual simulation scheme for the station's robotic arm is provided.关键词
虚拟机械臂/力反馈/仿真控制/STM32Key words
virtual mechanical arm/force feedback/simulation control/STM32分类
信息技术与安全科学引用本文复制引用
林珍,宋爱国..一种三维力反馈训练仿真控制系统设计[J].测控技术,2018,37(5):79-83,5.基金项目
江苏省科技支撑计划项目(BE2014132) （BE2014132）
