Interactive control system of variable force feedback robot based on spring model

Due to the high cost, complex construction, and immature algorithm of existing force feedback equipment, the majority of it is utilized in precise industries such as telemedicine and aerospace. Nevertheless, specific industrial production tasks require force feedback devices immediately. In order to make force feedback equipment extensively employed in the field of industrial robots, a spring-based variable force machine manpower feedback control system is developed. The force state of the robot in the working environment is communicated back to the manipulator via spring deformation, allowing the manipulator to intuitively sense the force environment in the working environment, hence facilitating robot control. The experiment demonstrates that the force feedback control system based on this method has a stable feedback effect and a simple structure, as well as the ability to realize the feedback of varied forces based on diverse application circumstances, which has a high promotional and practical value.