CN111113456B - A space manipulator on-orbit operation platform and system - Google Patents

Abstract

The invention relates to the technical field of space manipulator, in particular to an on-orbit operation platform and system of a space manipulator. The space manipulator on-orbit operation platform comprises a control module, an operation display module and a force feedback handle module, wherein: the operation display module is electrically connected with the control module and is used for inputting control instructions of the mechanical arm and displaying various states of the mechanical arm; the force feedback module is electrically connected with the control module and is used for realizing the operation of the single joint of the mechanical arm, the elbow camera holder and the end effector; the control module is mainly used for interaction of data and instructions. The space manipulator on-orbit operation system comprises a space station data management platform, a manipulator and the space manipulator on-orbit operation platform. The space manipulator on-orbit operation system has the advantages of high reliability, strong expandability, smaller time delay, higher fault isolation and hardware on-orbit replacement capability, force feedback function and wide operation space design.

Description

A Space Manipulator On-orbit Operation Platform and System

technical field

The invention relates to the technical field of space manipulators, in particular to an on-orbit operation platform and system of space manipulators.

Background technique

The on-orbit operating system of the space manipulator is used to support the control of the movement function of the manipulator in the astronaut's cabin, and at the same time support the monitoring of the manipulator by remote operation on the ground. It is the initiator and status monitoring end of the manipulator task.

At present, the operating platform that has been successfully launched and applied to the space manipulator is the MSS operating system of the International Space Station Manipulator (SSRMS), which adopts a discrete design and is composed of multiple components, and the redundant design is not good; The modular design is not convenient for on-orbit maintenance; the handle does not have force feedback function, so it cannot provide force feedback to the operator, and cannot use force as a channel to realize the operator's perception of the unknown environment of the slave end and the interactive state of the robot arm and the slave end environment , a single visual interaction channel limits the effectiveness, efficiency and safety of the operator in completing professional tasks.

Therefore, it is very necessary to design a new space manipulator on-orbit operating system to overcome the problems in the prior art.

Contents of the invention

The purpose of the present invention is to provide an on-orbit operation platform and system of a space manipulator, which can realize the intrusive control operation of the space manipulator by the astronauts by adopting redundant design, modular scheme, and force feedback handle technology.

In order to achieve the above object, the present invention provides an on-orbit operation platform of a space manipulator, including a control module, an operation display module, and a force feedback handle module, wherein: the operation display module is electrically connected to the control module, and is used to realize the control command of the manipulator The input and display of various states of the robotic arm; the force feedback handle module is electrically connected to the control module, which is used to realize the operation of the single joint of the robotic arm, the elbow camera pan, and the end effector; the control module is mainly used for Interaction of data and instructions.

Further, the control module is a dual-computer cold backup control module, which is used to implement telemetry parameters of the manipulator, analysis of instructions, data management, and data forwarding processing.

Further, the operation display module includes a liquid crystal screen and shortcut keys.

Further, the force feedback handle module includes a handle mechanism, and the handle mechanism includes a translation handle and a rotation handle, wherein: the translation handle adopts a three-degree-of-freedom delta mechanism design, which is used to realize front and rear, left and right, up and down movement control and composite Directional movement control; the rotating handle adopts a three-degree-of-freedom 3-RRR spherical parallel mechanism design, which is used to realize attitude control of pitch, yaw, and rotation, and rotation control of compound directions.

Furthermore, the translation handle and the rotation handle respectively correspond to the position and attitude of the control end effector, and the feedback torque of the handle can realize the proportional superposition of the useful resistance of the handle and the end contact force/torque.

Further, the force feedback handle module also includes a handle control unit for the motion control of the handle mechanism. The handle control unit includes a data interaction module, a force feedback module, a servo drive module, a joint optical encoding processing module, a motor optical encoding processing module, and a motor power The drive module; further, the operation display module and the force feedback handle module perform information interaction with the control module through the internal bus respectively.

The present invention also provides an on-orbit operating system for a space manipulator, including a space station data management platform, a manipulator, and any one of the above space manipulator on-orbit operation platforms, wherein: the space station data management platform communicates with the space machine via a system bus The arm’s on-orbit operating platform performs information interaction; the manipulator includes an end effector and a central controller, and the end effector and the central controller perform information interaction with the space manipulator’s on-orbit operating platform through a dedicated bus for the manipulator.

Furthermore, the control module adopts CPU+FPGA architecture design, which is used to: realize receiving bus instructions from the data management platform of the space station or ground remote control to the on-orbit operation platform of the space manipulator, and analyze, extract, and execute the data; Arm-specific bus to send instructions; receive telemetry data of the entire space manipulator, unpack the data, extract status information for emergency alarm or feedback to the force feedback handle module, and forward the telemetry data to the space station data management platform according to the protocol.

Further, the on-orbit operating system of the space manipulator also includes an instrument notebook, wherein: the space manipulator on-orbit operating platform communicates with the instrument notebook through Ethernet for on-orbit training.

Further, the operation display panel of the operation display module includes a liquid crystal display operation area, an alarm light window area, an operation mode selection area, an operation object selection area, an end operation area, a handle auxiliary operation area, a number keypad, an emergency operation area, and LCD screen shortcut key area, including: operation mode selection area, operation object selection area, terminal operation area, handle auxiliary operation area, and emergency operation area, which are used to realize quick switching of LCD screen pages and direct sending of control instructions; alarm lights The window area is used for system emergency and fault alarms, and the alarm details can be displayed and viewed through the status display bar of the LCD screen; the LCD screen display operation area realizes the operation of the page by means of parade.

Furthermore, the data interaction module is used to complete communication port management, status data analysis, status reporting, and handle control command output; the force feedback module calculates the end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the handle feedback force and Corresponds to the motor current and outputs it to the servo drive module; the servo drive module collects the current angle and phase current of the motor optical encoder according to the control current transmitted by the force feedback module, and outputs the drive signal to realize the closed-loop control of the motor torque; the motor power drive module is used to realize the motor power The output and drive motor action.

An on-orbit operating system of a space manipulator of the present invention has the following beneficial effects:

(1) High reliability. Redundant design between equipment and inside equipment has been carried out in terms of power supply and distribution, equipment function division, etc. Its multi-mode command input mode and consistent control mode can better meet the requirements of single module failure. soundness of its function.

(2) Strong scalability, the space manipulator on-orbit operating platform system of the present invention supports on-orbit maintenance, and can better realize system failure maintenance and new functions through on-orbit update of multiple software configuration items in the system The addition of the space station can better meet the execution of long-term on-orbit missions of the space station.

(3) Modular design is adopted, which has a high degree of fault isolation and on-orbit hardware replacement capability, which better meets the ergonomic design and long-life requirements of the space environment.

(4) With the force feedback function, the introduction of force feedback technology into the on-orbit operation of the space manipulator can better enhance the operator's sense of presence, improve the operation efficiency of the manipulator, and enable professionals to obtain visual and force sense. All-round information; at the same time, when an emergency or accident occurs, it can provide effective force-sense prompts to avoid damage to the robotic arm or aircraft.

(5) With a small time delay, a special bus solution for the manipulator is proposed and adopted, and it is applied to the manipulator subsystem, which optimizes the system bus topology and better solves the time delay problem of the serial control system;

(6) The force feedback operation mode of "position-velocity" mapping is proposed and designed, and the spherical mechanism is extended to the force interaction device, which better solves the decoupling and compound control requirements of the manipulator's attitude, and realizes a wide operating space (±40°) design (ISS index is ±22.5°), which makes it have a better user experience.

(7) The on-orbit training function is designed and reserved, combined with the simulation notebook, it can simulate the tasks to be performed by the space manipulator, reduce the risk of the task, and improve the operation efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural block diagram of the space manipulator on-orbit operating system of the present invention;

Fig. 2 is the system framework of the control module of the present invention;

Fig. 3 is a control module functional block diagram of the present invention;

Fig. 4 is the layout diagram of the operation display module of the present invention;

Fig. 5 is a functional block diagram of the operation display module of the present invention;

Fig. 6 is a block diagram of the force feedback handle control unit of the present invention;

In the figure: 1- LCD status display bar, 2- LCD screen operation area, 3- alarm light window area, 4- operation mode selection area, 5- operation object selection area, 6- terminal operation area, 7- handle auxiliary operation area, 8-numeric keypad, 9-emergency operation area, 10-LCD shortcut key area, 11-LCD dynamic display bar, 12-LCD display operation area;

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in Figure 1, an on-orbit operation platform of a space manipulator of the present invention includes a control module, an operation display module, and a force feedback handle module, wherein: the operation display module is electrically connected to the control module for realizing the control command of the manipulator The input and display of various states of the manipulator; the force feedback module is electrically connected to the control module, which is used to realize the operation of the single joint of the manipulator, the elbow camera pan, and the end effector; the control module is mainly used for data Interaction with commands.

Specifically, the control module is a dual-machine cold backup control module, which is used to implement telemetry parameters of the manipulator, analysis of instructions, data management, and data forwarding processing. The operation display module includes a liquid crystal screen and shortcut keys. The force feedback handle module includes a translation handle and a rotation handle, wherein: the translation handle adopts a three-degree-of-freedom delta mechanism design, which is used to realize front-back, left-right, up-down movement control and compound direction movement control; the rotation handle adopts a three-degree-of-freedom mechanism The 3-RRR spherical parallel mechanism design is used to realize the attitude control of pitch, yaw, and rotation, and the rotation control of compound directions; the force feedback handle module is an important human-machine interface between the astronaut and the mechanical arm, mainly used for Realize the operation of the single joint of the robotic arm, the elbow camera pan, and the end effector; when the robotic arm encounters an obstacle or reaches the limit of the range of motion of the robotic arm, it can provide a suitable feedback form and give an alarm in time; it has translational motion Rotating the handle corresponds to controlling the position and attitude of the end effector respectively; the feedback torque of the handle can realize the proportional superposition of the beneficial resistance of the handle and the end contact force/torque. The operation display module and the force feedback handle module perform information interaction with the control module through the internal bus respectively.

The on-orbit operation platform of the space manipulator of the present invention has the force feedback function. For the first time, the force feedback technology is introduced into the on-orbit operation of the space manipulator, which can better enhance the operator's sense of presence, improve the operating efficiency of the manipulator, and make the Professionals can obtain all-round information of vision and force sense; at the same time, when an emergency or accident occurs, it can provide effective force sense prompts to avoid damage to the robotic arm or aircraft.

As shown in Figure 1, the space manipulator on-orbit operating system of the present invention includes a space station data management platform, a manipulator, and the space manipulator on-orbit operation platform of the above-mentioned embodiment, wherein: the space station data management platform communicates with the space station through the system bus The on-orbit operating platform of the manipulator performs information interaction; the manipulator includes an end effector and a central controller, and the end effector and the central controller perform information interaction with the on-orbit operating platform of the space manipulator through a dedicated bus for the manipulator.

Furthermore, the control module adopts CPU+FPGA architecture design, which is used to: realize receiving bus instructions from the data management platform of the space station or ground remote control to the on-orbit operation platform of the space manipulator, and analyze, extract, and execute the data; Arm-specific bus to send instructions; receive telemetry data of the entire space manipulator, unpack the data, extract status information for emergency alarm or feedback to the force feedback handle module, and forward the telemetry data to the space station data management platform according to the protocol.

Further, the on-orbit operating system of the space manipulator also includes an instrument notebook, wherein: the space manipulator on-orbit operating platform communicates with the instrument notebook through Ethernet for on-orbit training.

Specifically, as shown in Figure 2, the control module adopts the system architecture of CPU+FPGA, and its peripheral circuits include the minimum circuits necessary for the CPU system to work, storage chips, memory chips, system bus control chips for communicating with external devices, and dedicated for manipulators. Bus control chip, Ethernet control chip, and internal bus control chip communicating with other internal modules. Among them, the CPU adopts the integrated design of operating system software and application software, which are jointly solidified in the program area. When the device is added or restarted, the system software first completes the hardware initialization, then starts the operating system software kernel to create a multi-tasking environment, and finally uses the interface between the operating system software and the application software to enter the initialization task of the application software. With the support of system software, complete specific functions. FPGA completes the timing logic management of peripheral chips and the interface data management of internal bus and Ethernet. In addition, in order to improve the reliability of the control module, in terms of hardware, a dual-machine redundant cold backup design is adopted. The hardware structure of the two machines is exactly the same, and the external interface adopts the combined isolation design. In the design, the magnetic latching relay is used to receive the program-controlled on-off command from the data management system of the space station to realize the on-off control of the two machines. In terms of software, the method of loading two out of three and starting with multiple backups is adopted, and the ability design to support on-orbit software maintenance and parameter revision is adopted (this software design idea is also applied to other modules).

As shown in Figure 3, with the cooperation of software and hardware, the control module has the function of receiving bus commands sent from the space station data management system or ground remote control to the on-orbit operating system of the manipulator, and analyzing, extracting and executing the commands from the data; The function of sending instructions to the dedicated bus of the manipulator; it can receive the telemetry data of the entire space manipulator, unpack the data, extract the status information for emergency alarm or feedback to the force feedback handle module, and then forward the telemetry data to the space station data according to the protocol The function of the management system; it has the function of communicating with the simulated notebook through Ethernet for on-orbit training; it has the function of communicating with other modules in the on-orbit operating system of the manipulator through the internal bus; it has its own key software for on-orbit maintenance and assistance The key software of the robotic arm subsystem performs on-orbit maintenance.

Further, the operation display panel of the operation display module includes a liquid crystal display operation area 12, an alarm light window area 3, an operation mode selection area 4, an operation object selection area 5, an end operation area 6, a handle auxiliary operation area 7, and a number keypad 8. The emergency operation area 9, and the LCD screen shortcut key area 10, the LCD screen display operation area 12 is divided into the LCD screen status display column 1, the LCD screen operation area 2, and the LCD screen dynamic display column 11, in which: the operation mode selection area 4 , operation object selection area 5, terminal operation area 6, handle auxiliary operation area 7, and emergency operation area 9, used to realize quick switching of LCD screen pages and direct sending of control commands; alarm light window area 3 is used for system emergencies and fault alarms, the details of the alarms can be displayed and viewed through the status display column 1 of the LCD screen; the operation area 12 of the LCD screen can realize the operation of the page by means of cruising.

Specifically, the operation display module is composed of shortcut keys and a liquid crystal screen. The entity of the operation display module is the operation display panel. The layout of the operation display panel is shown in Figure 4, which consists of LCD screen display operation area 12, alarm light window area 3, operation mode selection area 4, operation object selection area 5, terminal operation area 6, handle auxiliary operation area 7, number keys Area 8, emergency operation area 9 and liquid crystal screen shortcut key area 10 constitute, wherein liquid crystal screen display operation area 12 is divided into liquid crystal screen state display bar 1, liquid crystal screen operation area 2, liquid crystal screen dynamic display bar 11 three parts. Through the cooperative use of the operation mode selection area 4, the operation object selection area 5, the terminal operation area 6, the handle auxiliary operation area 7, and the emergency operation area 9, the quick switching of important pages in the LCD screen and the direct sending of control commands can be realized; alarm The light window area 3 is used for system emergency and failure alarms, and the alarm details can be viewed through the LCD status display column 1; the LCD display operation area 12 can realize the operation of the page through the mode of cruising. Through the above design, the operation display module can realize the redundant design of mechanical keys, soft keys and touch screen operation in the command input mode, thereby improving the reliability of operation.

The functional block diagram of the operation display module is shown in Figure 5. With the help of the embedded hardware circuit and software development, the layout design in Figure 4 can be used to complete the input of the control command of the manipulator and the display of various states of the manipulator, realizing the complete control of the manipulator. The switch between working mode and operation mode has the functions of single joint control, multi-joint coordinated control, end effector control, camera and pan/tilt control, mechanical arm motion stop, mechanical arm emergency stop control and other functions. The ground maintenance of the operation display module software can be realized by reserving the external interface, and the on-orbit maintenance function of the software can be realized through the data interaction of the internal bus.

Further, the force feedback handle module includes a handle mechanism and a handle control unit for motion control of the handle mechanism, wherein: the handle mechanism includes a translation handle and a rotation handle; the handle control unit includes a data interaction module, a force feedback module, a servo drive module, The joint optical encoder processing module, the motor optical encoder processing module, and the motor power drive module, and the data interaction module are used to complete communication port management, status data analysis, status reporting, and handle control command output; the force feedback module solves the problem by collecting the joint photoelectric angle Calculate the end position/attitude angle of the handle, and at the same time calculate the feedback force of the handle and the corresponding motor current and output it to the servo drive module; the servo drive module collects the current angle and phase current of the motor optical encoder according to the control current transmitted by the force feedback module, and outputs the drive signal Realize the closed-loop control of motor torque; the motor power drive module is used to realize the output of motor power and drive the motor.

Specifically, the force feedback handle module adopts a double handle design, including a translation handle and a rotation handle, and each handle can realize three degrees of freedom control. Among them, the translation handle adopts a three-degree-of-freedom delta mechanism design, which can realize front-back, left-right, up-down movement control and compound direction movement control. The rotation handle adopts a three-degree-of-freedom 3-RRR spherical parallel mechanism design, which can realize pitch, For yaw, rotation attitude control and compound direction control, the two handles use the same control circuit, and different force feedback algorithms are designed according to the characteristics of the mechanism to realize the force feedback handle function. As shown in Figure 6, it is a composition diagram of the handle control unit, including a data interaction module, a force feedback module, a servo drive module, a joint optical encoding processing module, a motor optical encoding processing module, and a motor power drive module. The data interaction module mainly completes communication port management, state data analysis, state reporting, and handle control command output; the force feedback module calculates the end position/attitude angle of the handle by collecting the photoelectric angle of the joint, and simultaneously calculates the feedback force of the handle and the corresponding motor current And output to the servo drive module; the servo drive module collects the current angle and phase current of the motor optical encoder according to the control current transmitted by the force feedback module, and outputs the drive signal to realize the closed-loop control of the motor torque. The motor power drive module is composed of a three-phase inverter as the core device and combined with an over-current protection circuit to realize the output of the motor power and drive the motor to operate.

Furthermore, in order to improve the reliability of the on-orbit operating system of the space manipulator, a redundant design has been carried out between equipment and inside equipment in terms of power supply and distribution, equipment function division, etc. The redundancy measures mainly include: equipment power supply bus adopts redundant hot backup; data calculation and management core adopts redundant design; redundant measures of mechanical keys, soft keys and touch screen operations are adopted for command input methods.

The on-orbit operating platform of the space manipulator of the present invention uses a dual-computer cold backup control module for telemetry parameters, instruction analysis and data management of the manipulator subsystem, as well as forwarding and processing of related subsystem data. Various means such as vision, touch, and hearing are used to realize the human-computer interaction between the operator and the space manipulator, so that the movement operation of the manipulator can be completed in a more friendly, comfortable and intuitive manner. At the same time, it can provide simulation operation function, send instructions to the simulation notebook through Ethernet, and drive the simulation notebook to realize the ability of astronauts on-orbit training. It has the functions of controlling the movement of the robotic arm and monitoring the status of the robotic arm, and supports ground remote control and remote operation to control and monitor the robotic arm.

The on-orbit operating system of the space manipulator of the present invention completes the collection of personnel instructions, actions, and parameters by operating the touch screen of the display module, manual buttons, and force feedback handle modules. After comprehensive analysis and calculation of the control module Use the special bus of the manipulator to send it to the space manipulator to complete the motion control of the space manipulator; at the same time, the control module collects the state information of the space manipulator through the manipulator special bus to complete the closed-loop control of the space manipulator movement, health monitoring and Fault alarm; the control module uploads the status information of the entire space manipulator and the on-orbit operating system to the space station data management system and receives the system's bus commands and maintenance data. The on-orbit operation platform of the space manipulator of the present invention is a human-computer interaction interface for completing the on-orbit operation of the space manipulator, and also provides a simulation operation function to complete the on-orbit simulation operation of the space manipulator, so that the space manipulator can complete the task core control unit.

The on-orbit operating system of the space manipulator of the present invention has high reliability, strong expandability, and small time delay; adopts modular design, has high fault isolation and hardware on-orbit replacement capability; and has force feedback function , which can better enhance the operator's sense of presence and improve the operating efficiency of the manipulator; moreover, it better solves the decoupling and compound control requirements of the manipulator's posture, realizes the design of a wide operating space, and makes it have a better User experience; In addition, the on-orbit training function is designed and reserved, combined with the simulation notebook, it can simulate the tasks to be performed by the space manipulator, reduce the risk of the task, and improve the operation efficiency.

The present invention has been further described above with the help of specific embodiments, but it should be understood that the specific description herein should not be construed as limiting the spirit and scope of the present invention. Various modifications made in the embodiments all belong to the protection scope of the present invention.

Claims (3)

1. The utility model provides a space manipulator on-orbit operation system, includes space station data management platform, arm and space manipulator on-orbit operation platform, wherein:

the space station data management platform performs information interaction with the space manipulator on-orbit operation platform through a system bus;

the mechanical arm comprises an end effector and a central controller, and the end effector and the central controller are respectively in information interaction with the space mechanical arm on-orbit operation platform through a special bus of the mechanical arm;

the space manipulator on-orbit operation platform comprises a control module, an operation display module and a force feedback handle module, wherein:

the operation display module is electrically connected with the control module and is used for inputting control instructions of the mechanical arm and displaying various states of the mechanical arm;

the control module adopts a CPU+FPGA architecture design for:

the method comprises the steps of receiving bus instructions sent to the space manipulator on-orbit operation platform from the space station data management platform or the ground remote control, and analyzing, extracting and executing the data;

sending an instruction to a special bus of the mechanical arm;

receiving telemetry data of the whole space manipulator, unpacking the data, extracting state information to carry out emergency alarm or feed back to the force feedback handle module, and forwarding the telemetry data to a space station data management platform;

the force feedback handle module is electrically connected with the control module and is used for realizing the operation of a single joint of the mechanical arm, an elbow camera cradle head and an end effector;

the control module is mainly used for interaction of data and instructions;

the control module is a control module of double-machine cold backup and is used for realizing analysis and data management of remote measurement parameters and instructions of the mechanical arm and forwarding treatment of data;

the operation display module comprises a liquid crystal screen and shortcut keys;

the operation display panel of the operation display module comprises a liquid crystal display operation area, an alarm lamp window area, an operation mode selection area, an operation object selection area, a tail end operation area, a handle auxiliary operation area, a digital key area, an emergency operation area and a liquid crystal display shortcut key area, wherein:

the operation mode selection area, the operation object selection area, the tail end operation area, the handle auxiliary operation area and the emergency operation area are used for realizing the rapid switching of the liquid crystal screen page and the direct sending of the control instruction;

the alarm lamp window area is used for alarming the emergency and faults of the system, and alarm details are displayed and checked through a liquid crystal screen state display column;

the liquid crystal display operation area realizes the operation of pages in a tour mode;

the force feedback handle module comprises a handle mechanism, wherein the handle mechanism comprises a translation handle and a rotation handle, and the force feedback handle module comprises:

the translation handle adopts a delta mechanism design with three degrees of freedom and is used for realizing front-back, left-right, up-down movement control and compound direction movement control;

the rotating handle is designed by adopting a three-degree-of-freedom 3-RRR spherical parallel mechanism and is used for realizing attitude control of pitching, yawing and rotating and rotation control of a composite direction;

the translation handle and the rotation handle respectively control the position and the gesture of the end effector correspondingly, and the handle feedback moment can realize the proportional superposition of the beneficial resistance of the handle and the terminal contact force/moment;

the force feedback handle module further comprises a handle control unit for controlling the movement of the handle mechanism, wherein the handle control unit comprises a data interaction module, a force feedback module, a servo driving module, a joint optical editing processing module, a motor optical editing processing module and a motor power driving module;

and the operation display module and the force feedback handle module respectively interact information with the control module through an internal bus.

2. The space manipulator on-orbit operating system of claim 1, further comprising a instrumented notebook, wherein:

the space manipulator on-orbit operation platform is communicated with the instrument notebook computer through the Ethernet and used for on-orbit training.

3. The on-orbit operating system of the space manipulator according to claim 1, wherein the data interaction module is used for completing communication port management, state data analysis, state reporting and handle control instruction output; the force feedback module is used for calculating the position/attitude angle of the tail end of the handle by collecting the joint photoelectric angle, and simultaneously calculating the feedback force of the handle and the corresponding motor current and outputting the feedback force and the corresponding motor current to the servo driving module; the servo driving module collects the current angle and phase current of the optical encoder of the motor according to the control current transmitted by the force feedback module, and outputs a driving signal to realize the torque closed-loop control of the motor; the motor power driving module is used for outputting motor power and driving the motor to act.

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