CN203092570U - Measurement and control circuit of robot teleoperation hand controller with seven-degree of freedom force feedback - Google Patents
Measurement and control circuit of robot teleoperation hand controller with seven-degree of freedom force feedback Download PDFInfo
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- CN203092570U CN203092570U CN 201220142900 CN201220142900U CN203092570U CN 203092570 U CN203092570 U CN 203092570U CN 201220142900 CN201220142900 CN 201220142900 CN 201220142900 U CN201220142900 U CN 201220142900U CN 203092570 U CN203092570 U CN 203092570U
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Abstract
The utility model discloses a measurement and control system of a robot teleoperation hand controller with seven-degree of freedom force feedback. The circuit is characterized by comprising a microprocessor module, a position detecting module, a force feedback module, a communication interface module and a power supply module. The position detecting module is used for detecting the free-degree of freedom position information of the hand controller; the force feedback module is used for providing feedback force/moment for various degrees of freedom of the hand controller; the communication interface module is used for communicating a hand controller measurement and control system with a computer; the communication way comprises universal serial bus (USB) communication and serial communication; a function key is used for providing the functions of reset, expanding stroke and recording current position information for the hand controller; and the power supply module is used for providing power supply for the overall hand controller measurement and control system. According to the circuit provided by the utility model, the position information of the seven-degree of freedom hand controller is measured by an incremental photoelectrical coded disc, and the seven-degree of freedom feedback force/moment can be provided for the seven-degree of freedom hand controller through adopting a direct current servo motor, and thus the requirement of teleoperation of the seven-degree of freedom of force feedback can be satisfied.
Description
One, technical field
The utility model relates to a kind of seven freedom force feedback teleoperation of robot hand controller telemetry circuit, can be widely used in the distant operation occasion of multiple degrees of freedom force feedback, as Aero-Space, medical treatment, virtual reality etc.
Two, background technology
Along with the extensive use of interactive teleoperation robot, the human-computer interface device that needs are a large amount of with power tactile feedback.The manual device of robot is common teleoperation of robot human-computer interface device, the positional information of its one side measure operator hand is followed the tracks of the motion of staff as the virtual machine hand in control instruction control manipulator or the virtual reality, on the other hand, the power tactile data that robot is fed back converts power or the moment that directly acts on staff to, make the operator be created in the power sense of touch telepresenc effect that machine far away is manually done " on the spot in person " of scene or virtual robot working site, thereby realize the control of band sensation, perhaps in virtual environment, produce real touch perception.The force feedback hand controlled device of seven freedom can satisfy the requirement of the distant operation of multiple degrees of freedom band force feedback, can be applicable to fields such as Aero-Space, medical treatment, rescue, virtual reality, is with a wide range of applications.
Three, utility model content
The purpose of this utility model is to provide a kind of seven freedom force feedback teleoperation of robot hand controller telemetry circuit that can improve the stability of a system and reliability.
The utility model adopts following technical scheme:
A kind of seven freedom force feedback teleoperation of robot hand controller telemetry circuit, comprise: microprocessor module, position detecting module, the force feedback module, communication interface module and power module, on microprocessor module, be connected with position detecting module and force feedback module respectively, position detecting module comprises the photoelectric coding circuit that contains first to the 7th photoelectric coded disk, first photoelectric isolating circuit that contains first to the 7th photo-coupler, contain the pulse-scaling circuit of first to the 3rd counter and contain the phase discriminator of first to fourth d type flip flop, 7 photoelectric coded disks in the photoelectric coding circuit are respectively applied for the position signalling of 7 frees degree that receive the force feedback hand controlled device of seven freedom, and each photoelectric coded disk produces A phase pulse signal and B phase pulse signal, 7 road A phase pulse signals that first to the 7th photoelectric coded disk produces are sent to first to the 3rd counter by first to the 7th photo-coupler respectively, the output of pulse-scaling circuit links to each other with the counting control port with the enumeration data port of microprocessor module with control end, 7 road A phase pulse signals and 7 road B phase pulse signals that first to the 7th photoelectric coded disk produces are sent to first to fourth d type flip flop by first to the 7th photo-coupler respectively, the output of phase discriminator links to each other with the bearing data port of microprocessor module, the force feedback module comprises the negative circuit that contains first to fourth not gate, second photoelectric isolating circuit that contains the 8th to the 9th photo-coupler, the D/A change-over circuit that contains first to second D/A converter, the motor-drive circuit that contains first to the 7th motor driver, the group of motors that contains first to the 7th direct current generator, the input of 4 not gates in the negater circuit links to each other with the force feedback control output end with the force feedback data output end of microprocessor module respectively, 4 outputs of first to fourth not gate are sent to first to second D/A converter by the 8th to the 9th photo-coupler respectively, 14 outputs of first to second D/A converter are sent to first to the 7th direct current generator by first to the 7th motor driver respectively, and first to the 7th direct current generator provides feedback force/moment by the stall mode for each free degree of hand controller.
Compared with prior art, the utlity model has following advantage:
1, the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit can be measured the positional information of hand controller 7 degree of freedom and for each free degree of hand controller provides feedback force/moment, satisfy the requirement of the distant operation of multiple degrees of freedom force feedback.
2, the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit has serial communication interface and USB communication interface, satisfies the requirement of different application occasion to communication interface, has enlarged the scope of application of hand controller.
3, the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit is by function key module, resets for hand controller provides, the function of extended-travel, record current location information, satisfies the specific demand in the distant operating process.
4, the position detecting module of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit adopts independently position detecting module (comprising pulse-scaling circuit and phase discriminator) that the pulse signal of coding disk is counted, both alleviated taking to microprocessor resources, and when the SCM program race flies, position detecting module still can write down the positional information of hand controller, make single-chip microcomputer still can get access to hand controller positional information accurately after the operate as normal again, guaranteed the stability and the reliability of system.Adopt microprocessor directly the pulse of coding disk to be counted to obtain the positional information of hand controller in the existing hand controller TT﹠C system, when the program fleet in the microprocessor, can not record the correct positional information of hand controller.
5, adopt the form of direct current generator stall to provide feedback force/moment for hand controller in the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit force feedback module, efficient height, control procedure are simple.
Four, description of drawings
Fig. 1 is the block diagram of system of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 2 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit position detecting module composition frame chart.
Fig. 3 is the photoelectric coded disk circuit and first photoelectric isolating circuit of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 4 is the pulse-scaling circuit of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 5 is the phase discriminator of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 6 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit force feedback module composition frame chart.
Fig. 7 is negative circuit, second photoelectric isolating circuit and the D/A change-over circuit of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 8 is the motor-drive circuit of the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit.
Fig. 9 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit communication interface modules composition frame chart.
Figure 10 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit communication interface modules circuit diagram
Figure 11 is that the force feedback hand controlled device observing and controlling of the utility model seven freedom is microcontroller circuit figure.
Figure 12 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit power module composition frame chart.
Figure 13 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit power module circuitry figure.
Figure 14 is the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit slave computer software flow chart.
Five, the specific embodiment
Say concrete implementation step of the present utility model in detail below in conjunction with accompanying drawing.
Consult Fig. 1, the utility model seven freedom force feedback teleoperation of robot hand controller telemetry circuit comprises: microprocessor module 1, position detecting module 2, force feedback module 3, communication interface module 4 and power module 5.Adopt incremental photoelectrical coded disk to measure the positional information of hand controller, adopt the form of DC servo motor stall to provide feedback force/moment for hand controller.Microprocessor module 1 communicates by communication interface module 4 and computer, and communication mode comprises serial communication and usb communication.Position detecting module 2 is delivered to microprocessor module 1 with the positional information of detected each free degree of hand controller, and the positional information after microprocessor module 1 will be handled is delivered to computer by communication interface module 4; Microprocessor module 1 is by the feedback force information of communication interface module 4 receiving computers, and the feedback force information after microprocessor module 1 will be handled is exported feedback force/moment by force feedback module 3 to hand controller.
Consult Fig. 2, position detecting module comprises photoelectric coded disk 201, first photoelectric isolating circuit 202, pulse-scaling circuit 203, dish phase discriminator 204.
First to the 7th photoelectric coded disk Encoder1-Encoder7 selects incremental photoelectrical coded disk for use in the photoelectric coding circuit 201, first to the 7th photo-coupler U2-1 – U2-7 selects two-way high speed photo coupling HCPL-2630 for use in the photoelectric isolating circuit 202, first to the 3rd counter U2-8-U2-10 selects 8254 chips for use in the pulse-scaling circuit 203, the first level translator U2-11 selects the SN74CBTD3384 chip for use, first to fourth phase discriminator U2-12-U2-15 selects d type flip flop 7474 chips for use in the phase discriminator 204, the second level translator U2-16 selects the SN74CBTD3384 chip for use, first to the 7th photoelectric coded disk Encoder1-Encoder7 links to each other with the output shaft Motor_Shaft1-Motor_Shaft7 of first to the 7th direct current generator in the group of motors 305 respectively in the photoelectric coding circuit 201, the A of first to the 7th photoelectric coded disk Encoder1-Encoder7, B phase pulse output end respectively with photoelectric isolating circuit 202 in two negative poles (pin 1 of HCPL-2630 of luminous tube of first to the 7th photo-coupler U2-1 – U2-7,4) link to each other, the output of first to the 7th photo-coupler (pin 7 of HCPL-2630,6) connect one respectively and connect pull-up resistor, the power end of first to the 7th photo-coupler U2-1 – U2-7 (pin 8 of HCPL-2630) links to each other with the D+5V power supply, first output of first to the 3rd photo-coupler U2-1-U2-3 in the photoelectric isolating circuit 202 (pin 7 of HCPL-2630) respectively with pulse-scaling circuit 203 in first to the 3rd pulse input end (8254 the pin 9 of the first counter U2-8,15,18) link to each other, first output of the 4th to the 6th photo-coupler U2-4-U2-6 (pin 7 of HCPL-2630) respectively with pulse-scaling circuit 203 in first to the 3rd pulse input end (8254 the pin 9 of the second counter U2-9,15,18) link to each other, first output of the 7th photo-coupler U2-1-U2-3 (pin 7 of HCPL-2630) links to each other with first pulse input end (8254 pins 9) of the 3rd counter U2-10 in the pulse-scaling circuit 203, first to the 3rd counter U2-8 in the pulse-scaling circuit 203, U2-9, the FPDP of U2-10 (8254 pin 8-1) parallel connection, and link to each other with the enumeration data port of microprocessor module 1 by the first level translator U2-11, first to the 3rd counter U2-8 in the pulse-scaling circuit 203, U2-9, the write signal port of U2-10 (8254 pins 23) and read signal port (8254 pins 22) are in parallel respectively, and link to each other with the counting control port of microprocessor module 1 by the first level translator U2-11, first to the 3rd counter U2-8 in the pulse-scaling circuit 203, U2-9, the address signal line of U2-10 and chip selection signal line (8254 pin 19,20,21) link to each other with the counting control port of microprocessor module 1, in first photoelectric isolating circuit 202 first of first to the 7th photo-coupler U2-1 – U2-7, second output links to each other with the input of first to fourth d type flip flop U2-12 – U2-15 in the phase discriminator 204 respectively, and 7 outputs of first to fourth d type flip flop U2-12 – U2-15 link to each other with the bearing data input port of microprocessor module 1 by second level translator respectively in the phase discriminator 204.8254 and other pin connections of SN74CBTD3384 with reference to its technical manual.
Consult Fig. 6, the force feedback module comprises negative circuit 301, second photoelectric isolating circuit 302, D/A change-over circuit 303, motor-drive circuit 304, group of motors 305.
First to fourth not gate U3-1A-U3-1D selects 7404 chips for use in the negative circuit 301, the the 8th to the 9th photo-coupler is selected high speed photo coupling HCPL-2630 for use in second photoelectric isolating circuit 302, first to second D/A converter is selected the D/A chip TLV5630 chip with SPI interface for use in the D/A change-over circuit 303, first to the 7th motor driver is selected the ADS50/5 type motor driver of MAXON company for use in the motor-drive circuit 304, on the ADS50/5 driver supply module is arranged, signaling module, the code-disc input module, (7404 the pin 1 of the input of first to fourth not gate in the negative circuit 301,3,5,9) link to each other with the force feedback data output end of microprocessor module 1 respectively and link to each other with the force feedback control output end, (7404 the pin 2 of the output of first to fourth not gate in the negative circuit 301,4,6,8) respectively by in 1 resistance and second photoelectric isolating circuit 302 the 8th, two negative poles (pin 1 of HCPL-2630 of 4 luminous tubes of the 9th photo-coupler, 4) link to each other, the 8th, 4 outputs of the 9th photo-coupler connect 1 pull-up resistor respectively, first to the second D/A converter U3-4, the serial data input of U3-5 (pin 2 of TLV5630) and serial clock input (pin 3 of TLV5630) are in parallel respectively, and respectively with second photoelectric isolating circuit 302 in the first and second outputs (pin 7 of HCPL-2630 of the 8th photo-coupler U3-2,6) link to each other, first to the second D/A converter U3-4 in the D/A change-over circuit 303,14 outputs of U3-5 respectively with motor-drive circuit 304 in the input (pin 1 of signaling module of first to the 7th motor driver U3-6 – U3-12,2) link to each other, the output of first to the 7th motor driver U3-6 – U3-12 ( pin 1,2 of supply module) links to each other with first to the 7th direct current generator in the group of motors 305 respectively.The connection of other pins of driver drives device is with reference to technical manual.
Consult Fig. 9, communication interface module comprises serial communication interface circuit 401, USB communication interface circuit 402.
The Transistor-Transistor Logic level input of electrical level transferring chip U4-1 in the serial communication interface circuit 401 (pin 11 of max3232) links to each other with the UART output TX of microprocessor; The Transistor-Transistor Logic level output of U4-1 (pin 12 of max3232) links to each other with the UART input RX end of microprocessor.232 level output ends of U4-1 (pin 14 of max3232) link to each other with the pin 2 of DB9 interface; The 232 level inputs of U4-1 (pin 13 of max3232) link to each other with the pin 3 of DB9 interface; The pin 5 of DB9 interface, shell pin 10 and shell pin 11 link to each other with ground DGND.The connection of electrical level transferring chip U4-1 peripheral circuit is with reference to technical manual.
Bus port transient suppressor U4-2 selects the SN75240 chip for use in the usb circuit 402, the channel C of SN75240, D link to each other with the USB interface of microprocessor respectively, and are connected in series resistance R 4-3, a R4-4 respectively between the pin 2,3 of the channel C of SN75240, D and USB interface.Other peripheral circuit connections of U4-2 are with reference to technical manual.USB interface is selected the Type B USB interface for use, and the VBUS pin of USB interface (pin 1 of USB interface) links to each other with the VBUS of the USB of microprocessor, and USB interface shell (USB interface pin 0) links to each other with ground DGND.
Consult Figure 11, to select model for use be the mixed signal single-chip microcomputer of C8051F340 to microprocessor in the microprocessor module 1, the pin 15-22 of C8051F340 is as the enumeration data port, the pin 47 of C8051F340,48,30-25 is as the counting control port, the pin 38-32 of C8051F340 is as the MOSI end of bearing data port microprocessor spi bus, the SCLK end is as the force feedback data output end, the pin 47 of C8051F340,48 as the force feedback control output end, the pin 1 of C8051F340 is as the RX pin of UART, the pin 2 of C8051F340 is as the TX pin of UART, the pin 8 of C8051F340 is as the D+ pin of USB, and the pin 9 of C8051F340 is as the D-pin of USB, and the pin 12 of C8051F340 is as the VBUS pin of USB.
Consult Figure 12, power module comprises switch power module 501, a 5V reduction voltage circuit 502, the 2nd 5V reduction voltage circuit 503, a 3.3V reduction voltage circuit 504.
Consult Figure 14, slave computer software is the C8051F340 scm software, comprises major cycle 801, interrupt service routine 802.
In the major cycle 801 " initialization " comprise that system clock is initial, the initialization of I/O mouth, the USB0 initialization, the UART initialization, external bus EMI initialization, the SPI0 initialization, the system clock initialization comprises the selection on-chip clock oscillator, it is 24MHz that system clock is set, the initialization of I/O mouth comprises and enables cross bar switch, be UART0, SPI0 distributes pin, cross bar switch is skipped P1.3, P1.6, P1.7, the P3.0-P3.7 pin, P0 is set, the P3 port, P1.0, P1.1, P1.2 is for recommending the way of output, the USB0 initialization comprises initialization USB clock, enabling USB interrupts, the USB mode of operation is set is the full speed pattern, the UART initialization comprises and enables UART0, baud rate is set, initialization UART0 clock, enabling UART interrupts, external bus EMI initialization comprises and enables the EMI bus, EMI is set is operated in the location line, the data wire multiplex mode, the SPI initialization comprises that SPI0 is set is operated in master mode, in the 2nd edge image data of SCL, SCLK is in low level at one's leisure, enable SPI0, it is 1/2 system clock that the SPI clock is set, the control command of C8051F340 is referring to technical manual, in the described major cycle 801 " 8254 initialization " comprise initialization to first to the 3rd counter (8254) in the counting circuit 203, initialized content comprises to the design of each passage working method in every 8254 with to individual technology channel and writes the counting initial value, it is mode 0 that working method is set, the binary counting mode, elder generation's read/write least-significant byte data, read/write most-significant byte data again, 8254 read-write control command is referring to technical manual, in the described major cycle 801 " TLV5630 initialization " comprise that selecting the DA conversion reference voltage is 2V reference voltage in the sheet, TLV5630 is set is operated in quick mode, the control command of TLV5630 is referring to technical manual, " order reads 7 tunnel 8254 count values " promptly reads the passage 0 of U2-8 in the counting circuit 203 respectively in the described major cycle 801, passage 1, passage 2, the passage 0 of U2-9, passage 1, passage 2, the count value of the passage 0 of U2-10, and deposit it in relevant register, 8254 read-write control command is referring to technical manual, " read direction data " are the state of read direction FPDP (the P2.0-P2.6 pin of C8051F340) in the described major cycle 801, and the pin state put into relevant register, " calculate the positional value of each free degree " in the described major cycle 801 and promptly calculate the positional value of each free degree according to 8254 count values that read and the bearing data that reads, and will calculate good numerical value and deposit relevant register in, the positional value of " USB sends data " each free degree that soon calculating will be good sends to computer by USB in the described major cycle 801, USB sends order referring to the C8051F340 technical manual, the positional value of " UART sends data " each free degree that soon calculating will be good sends to computer by UART0 in the described major cycle 801, UART sends order referring to the C8051F340 technical manual, in the described interrupt service routine 802 " USB receives data ", " UART receives data " represented respectively to read the data that computer sends from the USB0 port with from UART0, the data that computer sends comprise the numerical value that DA channel number and corresponding DA passage will be changed, the data that " SPI0 sends data " soon receive from computer send to TLV5630 with SPI0, TI, RI is respectively the transmission interrupt identification of UART0 and receives interrupt identification, USB0, UART0, the read write command of SPI0, read write command referring to technical manual.
Claims (4)
1. seven freedom force feedback teleoperation of robot hand controller telemetry circuit, comprise: microprocessor module (1), communication interface module (4) and power module (5), it is characterized in that, on microprocessor module (1), be connected with position detecting module (2) and force feedback module (3) respectively, described position detecting module (2) comprises the photoelectric coding circuit (201) that contains first to the 7th photoelectric coded disk, first photoelectric isolating circuit (202) that contains first to the 7th photo-coupler, contain the pulse-scaling circuit (203) of first to the 3rd counter and contain the phase discriminator (204) of first to fourth d type flip flop, 7 photoelectric coded disks in the described photoelectric coding circuit (201) are respectively applied for the position signalling of 7 frees degree that receive the force feedback hand controlled device of seven freedom, and each photoelectric coded disk produces A phase pulse signal and B phase pulse signal, 7 road A phase pulse signals that first to the 7th photoelectric coded disk produces are sent to first to the 3rd counter by first to the 7th photo-coupler respectively, the output of pulse-scaling circuit (203) links to each other with the counting control port with the enumeration data port of microprocessor module (1) with control end, 7 road A phase pulse signals and 7 road B phase pulse signals that first to the 7th photoelectric coded disk produces are sent to first to fourth d type flip flop by first to the 7th photo-coupler respectively, the output of phase discriminator (204) links to each other with the bearing data port of microprocessor module (1), described force feedback module (3) comprises the negative circuit (301) that contains first to fourth not gate, second photoelectric isolating circuit (302) that contains the 8th to the 9th photo-coupler, the D/A change-over circuit (303) that contains first to second D/A converter, the motor-drive circuit (304) that contains first to the 7th motor driver, the group of motors (305) that contains first to the 7th direct current generator, the input of 4 not gates in the described negater circuit (301) links to each other with the force feedback control output end with the force feedback data output end of microprocessor module (1) respectively, 4 outputs of first to fourth not gate are sent to first to second D/A converter by the 8th to the 9th photo-coupler respectively, 14 outputs of first to second D/A converter are sent to first to the 7th direct current generator by first to the 7th motor driver respectively, and first to the 7th direct current generator provides feedback force/moment by the stall mode for each free degree of hand controller.
2. seven freedom force feedback teleoperation of robot hand controller telemetry circuit according to claim 1, it is characterized in that first to the 7th photoelectric coded disk (Encoder1-Encoder7) is selected incremental photoelectrical coded disk for use in the described photoelectric coding circuit (201), first to the 7th photo-coupler in the photoelectric isolating circuit (202) (U2-1 – U2-7) is selected two-way high speed photo coupling HCPL-2630 for use, counter is selected 8254 chips for use in the pulse-scaling circuit (203), first level translator is selected the SN74CBTD3384 chip for use, phase discriminator is selected d type flip flop 7474 chips for use in the phase discriminator (204), second level translator is selected the SN74CBTD3384 chip for use, first to the 7th photoelectric coded disk (Encoder1-Encoder7) links to each other with the output shaft (Motor_Shaft1-Motor_Shaft7) of first to the 7th direct current generator in the group of motors (305) respectively in the photoelectric coding circuit (201), the A of first to the 7th photoelectric coded disk (Encoder1-Encoder7), B phase pulse output end links to each other with two negative poles of luminous tube of first to the 7th photo-coupler (U2-1 – U2-7) in the photoelectric isolating circuit (202) respectively, the output of first to the 7th photo-coupler connects one respectively and connects pull-up resistor, the power end of first to the 7th photo-coupler (U2-1 – U2-7) links to each other with the D+5V power supply, first output of first to the 3rd photo-coupler (U2-1-U2-3) links to each other with first to the 3rd pulse input end of first counter (U2-8) in the pulse-scaling circuit (203) respectively in the photoelectric isolating circuit (202), first output of the 4th to the 6th photo-coupler (U2-4-U2-6) links to each other with first to the 3rd pulse input end of second counter (U2-9) in the pulse-scaling circuit (203) respectively, first output of the 7th photo-coupler (U2-1-U2-3) links to each other with first pulse input end of the 3rd counter (U2-10) in the pulse-scaling circuit (203), first to the 3rd counter (U2-8 in the pulse-scaling circuit (203), U2-9, U2-10) FPDP parallel connection, and link to each other with the enumeration data port of microprocessor module (1) by first level translator (U2-11), first to the 3rd counter (U2-8 in the pulse-scaling circuit (203), U2-9, U2-10) write signal port and read signal port are in parallel respectively, and link to each other with the counting control port of microprocessor module (1) by first level translator (U2-11), first to the 3rd counter (U2-8 in the pulse-scaling circuit (203), U2-9, U2-10) address signal line links to each other with the counting control port of chip selection signal line with microprocessor module (1), first of first to the 7th photo-coupler in first photoelectric isolating circuit (202) (U2-1 – U2-7), second output links to each other with the input of first to fourth d type flip flop (U2-12 – U2-15) in the phase discriminator (204) respectively, and 7 outputs of first to fourth d type flip flop in the phase discriminator (204) (U2-12 – U2-15) link to each other with the bearing data input port of microprocessor module (1) by second level translator respectively.
3. seven freedom force feedback teleoperation of robot hand controller telemetry circuit according to claim 1, it is characterized in that in the force feedback module (3), first to fourth not gate is selected 7404 chips for use in the negative circuit (301), the the 8th to the 9th photo-coupler is selected high speed photo coupling HCPL-2630 for use in second photoelectric isolating circuit (302), first to second D/A converter is selected the D/A chip TLV5630 chip with SPI interface for use in the D/A change-over circuit (303), first to the 7th motor driver is selected the ADS50/5 type motor driver of MAXON company for use in the motor-drive circuit (304), on the ADS50/5 driver supply module is arranged, signaling module, the code-disc input module, the input of first to fourth not gate links to each other with the force feedback data output end of microprocessor module (1) respectively and links to each other with the force feedback control output end in the negative circuit (301), the output of first to fourth not gate is respectively by in 1 resistance and second photoelectric isolating circuit (302) the 8th in the negative circuit (301), the negative pole of 4 luminous tubes of the 9th photo-coupler links to each other, the 8th, 4 outputs of the 9th photo-coupler connect 1 pull-up resistor respectively, first to the second D/A converter (U3-4, U3-5) serial data input and serial clock input are in parallel respectively, and link to each other with first and second outputs of the 8th photo-coupler (U3-2) in second photoelectric isolating circuit (302) respectively, first to the second D/A converter (U3-4 in the D/A change-over circuit (303), U3-5) 14 outputs link to each other with the input of first to the 7th motor driver (U3-6 – U3-12) in the motor-drive circuit (304) respectively, and the output of first to the 7th motor driver (U3-6 – U3-12) links to each other with first to the 7th direct current generator in the group of motors (305) respectively.
4. seven freedom force feedback teleoperation of robot hand controller telemetry circuit according to claim 1, it is characterized in that it is the mixed signal single-chip microcomputer of C8051F340 that the middle microprocessor of microprocessor module (1) is selected model for use, the pin 15-22 of C8051F340 is as the enumeration data port, the pin 47 of C8051F340,48,30-25 is as the counting control port, the pin 38-32 of C8051F340 is as the bearing data port, the MOSI end of microprocessor spi bus, the SCLK end is as the force feedback data output end, the pin 47,48 of C8051F340 is as the force feedback control output end.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
| CN108542387A (en) * | 2018-04-23 | 2018-09-18 | 佛山科学技术学院 | A kind of human body chewing signal detection system |
| CN108601624A (en) * | 2016-01-12 | 2018-09-28 | 直观外科手术操作公司 | The uniform scaling of tactile actuator |
| CN110076773A (en) * | 2014-11-21 | 2019-08-02 | 佳能株式会社 | Robot device, the method and motor driving apparatus for manufacturing article |
| US11666402B2 (en) | 2017-10-02 | 2023-06-06 | Intuitive Surgical Operations, Inc. | End effector force feedback to master controller |
-
2012
- 2012-04-06 CN CN 201220142900 patent/CN203092570U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642209A (en) * | 2012-04-06 | 2012-08-22 | 东南大学 | Seven-degree of freedom force feedback hand controller measurement and control system |
| CN110076773A (en) * | 2014-11-21 | 2019-08-02 | 佳能株式会社 | Robot device, the method and motor driving apparatus for manufacturing article |
| CN108601624A (en) * | 2016-01-12 | 2018-09-28 | 直观外科手术操作公司 | The uniform scaling of tactile actuator |
| US11376087B2 (en) | 2016-01-12 | 2022-07-05 | Intuitive Surgical Operations, Inc. | Uniform scaling of haptic actuators |
| CN108601624B (en) * | 2016-01-12 | 2022-07-08 | 直观外科手术操作公司 | Uniform scaling of haptic actuators |
| US11666402B2 (en) | 2017-10-02 | 2023-06-06 | Intuitive Surgical Operations, Inc. | End effector force feedback to master controller |
| US11969225B2 (en) | 2017-10-02 | 2024-04-30 | Intuitive Surgical Operations, Inc. | End effector force feedback to master controller |
| CN108542387A (en) * | 2018-04-23 | 2018-09-18 | 佛山科学技术学院 | A kind of human body chewing signal detection system |
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