R&D Of The Universal Master-Controller Based On USB

The telerobot has been given more and more attentions, it can replace human working in the dangerous environment,So the R&D of the universal master-hand controller is very important to the application of the telerobot. This paper is based on the 863 plans of "Live-line Maintains Robot System" and "10KV Hot-line Maintains Robot" , do the deeply research on the master-hand controller of the telerobot and then design a universal USB master-hand controller which combine with the master-hand to be a universal master-hand.This universal master-hand controller can apply to the master-hand with different degree of freedoms, and use the USB interface which has true plug-and-play operation. The former master-hand controllers mostly based on the PCI and ISA, They have many limitations such as being difficult to set-up, too expensive, EMC troubles etc.First, This paper research the structure of the telerobot system, analyse the role of the master-hand controller, then depict the detailed hardware scheme including A/D module, digital signal module, USB interface module, power management module, as well as the important chips and related design technology.This paper also develop the software such as VHDL, firmware, WDM, client application, then debug the whole controller including hardware and software. By means of analyzing the acquired data by the controller, we can see that it reach the lab' s requirements.This controller will apply to our hot-line maintain robot if We do continuous improvement on it.