CN112077816B - Device and method for testing force feedback function of teleoperation equipment - Google Patents

Abstract

The invention provides a testing device and method for the force feedback function of remote operation equipment, including a master hand equipment force feedback test calibration platform and a slave hand equipment force perception test calibration platform, as well as a master hand performance test and calibration method, and a slave hand performance test calibration method. Method and master-slave online testing method. The main hand equipment force feedback test calibration platform includes a main hand platform base, a main hand six-dimensional force sensor, a main hand sensor fastening connection flange, a main hand sensor input flange, a manual slide table, a slide table bracket, and a main hand handle. Holding hoop; the main hand six-dimensional force sensor is connected to the main hand handle holding hoop through the main hand sensor input flange. The slave device force sensing test calibration platform includes a slave hand platform base, a slave hand six-dimensional force sensor, and a slave hand operating object; the slave hand six-dimensional force sensor is fixed on the slave hand platform base, and its input end is connected through the sensor flange Fixed objects to be manipulated from hand. The invention realizes the closed-loop control performance test of force feedback.

Description

Test device and method for force feedback function of remote operation equipment

Technical field

The present invention relates to the field of force feedback technology, specifically to a test device and method for the force feedback function of remote operation equipment, and in particular to a test platform and test method for the force feedback function of a master-slave remote operation equipment.

Background technique

Teleoperation technology refers to the technology in which operators control remote machines and equipment to perform operations. The basic principle is that the operator directly controls the movement of the master device (also called the master hand), and the controller sends the motion information of the master device to the slave device (also called the slave hand) through wireless or wired communication. The slave device Complete remote work tasks by synchronously following the movement of the main device. The working environment where the slave device is located generally has visual information fed back to the operator. In many cases, force and touch are also very important, especially in application scenarios of delicate operations such as minimally invasive surgical robots. The force/tactile information between the device and the environment is fed back to the operator. Through the master device, the operator can directly feel the force interaction between the slave device and the environmental object, and complete precise operations based on the operator's own experience and judgment. The core technology among them is to allow the operator to truly, accurately and real-time obtain the force sense information of the interaction between the slave device and the environment, which is called force feedback technology.

The combination of force feedback technology with visual, auditory and other technologies enables operators to obtain a more realistic and rich presence experience, helping operators to remotely control slave devices to complete more precise work. Under ideal circumstances, force feedback technology can allow the operator to experience the feeling of directly touching, pushing, pulling, squeezing and holding objects in the remote environment to achieve an immersive feeling.

In practical applications, the master hand and the slave hand are generally heterogeneous. How the force sensor on the slave hand detects the force signal and how it is mapped and transformed into the action of the master hand. The static and dynamic characteristics of each link determine the force feedback performance. The key factor is also the basis for designing and improving teleoperation motion control algorithms.

At present, domestic research on test calibration devices and calibration methods for force feedback teleoperation devices is often limited to the calibration of master hand equipment, and there is relatively little research on the calibration of slave hand equipment.

Patent document CN103753519A discloses a platform mechanism for the calibration method of a three-degree-of-freedom force feedback hand controller, which can realize the test calibration of a specific self-made main hand device. However, its three-degree-of-freedom mechanism has a complex structure and poor stability, which affects the calibration accuracy. , and its versatility is poor, and it cannot calibrate the force feedback equipment widely used in the market. At the same time, it does not provide a calibration device and method corresponding to the slave equipment. Patent document CN109632173A discloses a calibration device for three-dimensional force accuracy at the end of a multi-degree-of-freedom force feedback device, which can achieve test calibration of three-dimensional force feedback devices. However, this device only performs calibration for three-dimensional force feedback devices and is not suitable for six-dimensional devices. Moreover, this device uses six force sensors to collect data separately, which are coupled to each other. The accuracy is difficult to guarantee, and the design cost is high and the testing process is complicated. At the same time, it does not provide a calibration device and method corresponding to the slave equipment.

Contents of the invention

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a testing device and method for the force feedback function of remote operation equipment.

According to a test platform and test method for the force feedback function of a master-slave remote operation device provided by the present invention, it includes a master hand device force feedback test calibration platform and a slave hand device force perception test calibration platform, as well as a master hand performance test method, a slave hand device force feedback test calibration platform, and a master hand device force feedback test calibration platform. Hand performance test method and master-slave hand online test method.

The function of the main hand device force feedback test and calibration platform is to test and calibrate the main hand device. The main hand device can be various self-developed devices or existing remote operation input devices with force feedback functions. Including main hand platform base 1, main hand six-dimensional force sensor 4, main hand sensor fastening connection flange 41, main hand sensor input flange 42, manual slide table 3, slide table bracket 2, main hand handle clamp 5; The panel of the main hand platform base 1 is covered with a grid of positioning holes, which is used to adjust the position of the slide bracket 2 and fix different main hand devices; the slide bracket 2 is in an inverted "T" shape, with four sides at the bottom. Threaded holes are fixed on the main hand platform base 1 through bolts, and the test position and attitude can be changed by selecting different positioning holes; the manual slide 3 includes a slide base 35, a guide shaft 34, a screw 33, a knob 32, a slide Block 31; the slide base 35 is fixed on the slide bracket 2 in a vertical direction; the slide block 31 is connected to the screw 33 through a thread, and the rotation of the screw 33 drives the slide block 31 to move linearly; the guide shaft 34 are evenly distributed on both sides of the screw 33 and fixed with the slider 31 to ensure that the slider 31 moves axially linearly along the screw 33; the knob 32 is fixed on the top of the screw 33, and the rotation of the screw 33 can be achieved by manually rotating the knob 32. The two cooperate coaxially; the six-dimensional force sensor 4 is fixed on the slide block 31 in the manual slide 3 through the main hand sensor fastening connection flange 41, and its height change is adjusted by rotating the knob 32 to drive the slide block 31 is realized by linear motion; the input end of the main hand six-dimensional force sensor 4 is connected to the main hand handle hoop 5 through the main hand sensor input flange 42; the main hand handle hoop 5 is used to clamp the main hand operation handle.

The force feedback test and calibration method of the main hand device tests and calibrates the force feedback function of the main hand control device. The main hand control end is fixed on the main hand force feedback test calibration platform in the aforementioned manner, and the main hand equipment controller sends a force feedback command, that is, a force output signal, to the main hand control mechanism. The output signal is a force/torque signal with different directions and magnitudes. Synchronously record the force/torque data sensed by the six-dimensional force sensor 4 of the main hand in the three directions of x, y, and z axes in its own coordinate system. Through the transformation relationship between the main hand's own coordinate system and the main hand six-dimensional force sensor 4's own coordinate system, the force/torque signal and the force feedback command signal collected by the main hand six-dimensional force sensor 4 are converted into the same coordinate system (generally Taking the main hand coordinate system), conduct a comprehensive evaluation and parameter calibration of the force feedback performance of the main hand equipment. Specifically, it can include performance parameters such as range, accuracy, sensitivity, linearity, orthogonality, dead zone, hysteresis, delay, etc. of the force feedback mechanism, as well as the changes of each parameter when the handle is in different positions.

The function of the slave device force sensing test and calibration platform is to test and calibrate the force/torque detection function of the slave device, mainly focusing on the impact of the performance of the force sensor and its installation method on the force measurement effect. The slave equipment tested can be various self-developed equipment or existing automated execution mechanisms that can independently complete target tasks, such as robots. The slave hand force feedback equipment test and calibration platform includes a slave hand platform base 6, a slave hand six-dimensional force sensor 7, a slave hand sensor input flange 71, and a slave hand operating object 8. The slave hand six-dimensional force sensor 7 is fixed on the slave hand platform base 6. The slave hand six-dimensional force sensor 7 is equipped with a slave hand sensor input flange 71, on which the slave hand operating object 8 is fixed. The fixation method is adopted. Threaded connection for easy disassembly and assembly. The slave hand operating object 8 is a model made to simulate the actual operated object or environment, and varies according to the use of the slave hand. For example, in surgical robot teleoperation applications, the slave hand operating object 8 can be a silicone organ model. Even real animal tissues and organs.

The force sensing test and calibration method of the slave device tests and calibrates the force sensing performance of the slave device. The slave hand equipment force sensing test calibration platform is fixed in the slave hand working area in the aforementioned manner, and is controlled by the slave hand controller to send instructions to the slave hand end effector to complete touching, pushing and pulling actions on the slave hand operating object 8 , synchronously recording the force/torque data sensed by the force sensor of the hand device itself, and the force/torque data sensed by the six-dimensional force sensor 7 of the hand device in the three directions of x, y, and z axes in its own coordinate system. . Through the transformation relationship between the slave hand device's own coordinate system and the slave hand six-dimensional force sensor 7's own coordinate system, the force/torque signal collected from the slave hand six-dimensional force sensor 7 and the slave hand's own force sensing signal are converted into the same coordinate system (Generally, take the coordinate system where the test platform is located) to conduct a comprehensive evaluation and parameter calibration of the force sensing performance of the slave device. Specifically, it can include performance parameters such as range, accuracy, sensitivity, linearity, orthogonality, dead zone, hysteresis, delay, etc. of the force sensing device, as well as the changes of each parameter when the slave hand is in different postures.

The master-slave online test method conducts a complete performance test on the force feedback function of the master-slave remote operation device. After the master hand-end device and the slave hand-end device have completed their respective calibrations, they are connected to form a complete remote operation closed-loop system, that is, the force sensing signal from the slave hand-end is fed back to the actuator of the master hand-end to form a force/torque output. The master hand control end is fixed on the master hand force feedback test calibration platform in the aforementioned manner, and the slave hand equipment force sensing test calibration platform is fixed in the slave hand working area in the aforementioned manner. By sending instructions from the slave hand controller to the slave hand end effector, the slave hand operating object 8 is touched, pushed and pulled, etc., and the slave hand's six-dimensional force sensor 7 and the master hand's six-dimensional force sensor 4 are simultaneously recorded in their own coordinate system. Below is the force/torque data sensed in the three directions of x, y, and z axes. Convert the two to the same coordinate system (usually the coordinate system where the force perception test calibration platform of the slave device is located), and conduct a comprehensive performance evaluation and parameter calibration of the entire force perception-force reproduction process of the master-slave remote operation device. . Based on the aforementioned independent main hand force feedback execution performance test and calibration and slave hand force perception performance test and calibration, the coordinate transformation correctness, filtering ability, correction and compensation ability, delay and other indicators of the force feedback algorithm are mainly tested. .

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention can not only realize the calibration of the force feedback of the master hand device, but also can realize the calibration of the force perception of the slave hand device. It can also complete the master and slave hand online test, and realize the closed-loop control of force feedback in the field of remote operation applications. Performance Testing.

2. The six-dimensional force sensor used in the present invention has high testing accuracy, is applicable to both three-dimensional force feedback equipment and six-dimensional equipment, and has a wide range of applications;

3. In the present invention, the master-slave test calibration platform only needs one sensor each, with simple structure, low design cost and simple operation process.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

Figure 1 is a schematic diagram of the overall structure of the main hand device force feedback test and calibration platform in the present invention.

Figure 2 is an exploded schematic diagram of the main hand device force feedback test and calibration platform in the present invention.

Figure 3 is a schematic diagram of the main hand device force feedback test calibration platform according to the embodiment of the present invention using Omega.7 as the main hand.

Figure 4 is a schematic diagram of the overall structure of the slave handheld device force sensing test calibration platform in the present invention.

Figure 5 is an exploded schematic diagram of the slave handheld device force sensing test calibration platform in the present invention.

FIG. 6 is a schematic diagram of the force sensing test and calibration platform of the slave device using the Robotiq two-finger gripper as the end effector in the embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

Figures 1 and 2 show the overall structural diagram and exploded view of the force feedback test calibration platform for main hand equipment respectively. Including main hand platform base 1, main hand six-dimensional force sensor 4, main hand sensor fastening connection flange 41, main hand sensor input flange 42, manual slide table 3, slide table bracket 2, main hand handle clamp 5; The panel of the main hand platform base 1 is covered with a grid of positioning holes, which is used to adjust the position of the slide bracket 2 and fix different main hand devices; the slide bracket 2 is in an inverted "T" shape, with four bottom parts. The threaded hole is fixed on the main hand platform base 1 through bolts; the manual slide 3 includes a slide base 35, a guide shaft 34, a screw 33, a knob 32, and a slide 31; the slide base 35 is fixed in a vertical direction on the slide bracket 2; the slide block 31 and the screw rod 33 are connected by threads, and the rotation of the screw rod 33 drives the slide block 31 to move linearly; the guide shaft 34 is evenly distributed on both sides of the screw rod 33 and fixed with the slide block 31 , ensuring that the slider 31 moves axially linearly along the screw 33; the knob 32 is fixed on the top of the screw 33, and the rotation of the screw 33 can be achieved by manually rotating the knob 32, and the two cooperate coaxially; the six-dimensional force of the main hand The sensor 4 is fixed on the slider 31 in the manual slide 3 through the main hand sensor fastening connection flange 41, and its height is achieved by rotating the knob 32 to drive the slider 31 to make linear motion; the main hand six-dimensional force sensor The input end of 4 is connected to the main hand handle hoop 5 through the main hand sensor input flange 42; the main hand handle hoop 5 is used to clamp the main hand operating handle.

Figure 3 is a schematic diagram of the overall structure of the main hand device force feedback test calibration platform after the main hand device is installed. In this embodiment, Omega.7 from Swiss Force Dimension Company is used as the main hand device. Other self-developed devices or existing remote operation input devices with force feedback functions are suitable for this platform. Main hand devices of different shapes and sizes can be used. It is fixed through the positioning holes in the base 1 of the main hand platform.

Embodiments of the main hand device force feedback test and calibration method in the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The test calibration process of the main hand is divided into static characteristic calibration and dynamic characteristic calibration. Among them, the static characteristic calibration can detect the pointing accuracy, resolution, sensitivity, dead zone, repetition accuracy, linearity and other basic performance indicators of the main hand device itself; the dynamic characteristic calibration can detect the command delay of the system and the mechanical delay of the main hand.

As shown in Figure 3, the Omega.7 handle is fixed on the tool end measuring point of the main hand six-dimensional force sensor 4, that is, the main hand handle hoop 5 clamps the main hand operating handle.

(1) Main hand equipment static test calibration method:

The Omega.7 main hand controller (computer) sends force control instructions to it in the three directions of x, y, and z axes in its own coordinate system, including monotonic increase/decrease instructions in one direction, and monotonic increase/decrease instructions in three directions. Random number instructions; synchronously record the force information sensed by the six-dimensional force sensor 4 of the main hand in the three directions of x, y, and z axes in its own coordinate system; perform parameter identification through optimization methods based on the collected raw data , calculate the coordinate transformation matrix of the Omega.7 main hand relative to the fixed platform, and conduct a comprehensive evaluation of the system accuracy on this basis.

When Omega.7 is under full gravity compensation, move its handle to the appropriate position (without touching any object), send force control instructions in each coordinate direction to Omega.7, gradually increase the control force, and observe Omega. 7. How much force control command can be used to overcome the dead zone and start moving.

(2) Main hand equipment dynamic test calibration method:

Set the sampling frequency of the six-dimensional force sensor 4 to be greater than 100Hz, and send sine waves and square waves to the Omega.7 main hand in the three directions of x, y, and z axes in its coordinate system through the Omega.7 main hand controller (computer). , sawtooth wave and other waveform force signals. Simultaneously record the force information sensed by the six-axis force sensor 4 in the three directions of x, y, and z axes in its own coordinate system, and obtain the main hand coordinate system and the main hand six-dimensional force sensor 4 coordinates through the static test calibration. The basic transformation relationship between systems, convert the collected data on the six-dimensional force sensor 4 to the Omega.7 main hand coordinate system, analyze the command delay of the system and the mechanical delay of the Omega.7 main hand, and Response capabilities, attenuation conditions, etc. at different frequencies.

Figures 4 and 5 are respectively a schematic diagram and an exploded view of the slave handheld device force perception test calibration platform. It includes the slave hand platform base 6, the slave hand six-dimensional force sensor 7, the slave hand sensor input flange 71, and the slave hand operating object 8; the slave hand six-dimensional force sensor 7 is fixed on the slave hand platform base 6, and the slave hand six-dimensional force sensor 7 is fixed on the slave hand platform base 6. The input end of the Weili sensor 7 fixes the slave hand operating object 8 through the slave hand sensor input flange 71, and the fixation method adopts threaded connection to facilitate disassembly and assembly; the slave hand operating object 8 is simulated to simulate the actual operated object or environment. The model produced varies according to the use of the slave hand. For example, in the application of surgical robot teleoperation, the slave hand operation object 8 can be a silicone organ model, or even a real animal tissue or organ, etc.; the slave hand device is used in this example. The Panda robotic arm of the German Franka Emika company is used as an example. The end effector of the robotic arm is the Canadian Robotiq two-finger gripper. Other similar slave devices and end effectors are also suitable for this platform.

The following describes in detail the embodiments of the force perception test and calibration method of the slave hand device in the present invention with reference to the accompanying drawings and specific embodiments.

The slave device force sensing test calibration platform is fixed in the slave hand working area, a sensor is installed on the wrist of the robot arm to detect end effector information, and the Robotiq two-finger gripper is installed on the sensor tool end. The slave hand controller sends instructions to the slave hand end effector to make the Robotiq two-finger gripper grasp a heavy object of a certain mass, adjust the Franka slave hand to 7 different postures, and read the six-dimensional force on the wrist of the robotic arm. The sensor raw data and the force information fed back to the Omega.7 master hand are used to detect the actual contact force between the end effector of the slave device and the outside in the Z-axis direction and the accuracy of the feedback to the master hand.

The slave hand operating object 8 is fixed on the slave hand six-dimensional force sensor 7 . The slave hand controller sends instructions to the slave hand end effector, causing the Robotiq two-finger gripper to touch, push and pull the slave hand operating object 8 in various directions, and compare the force magnitude and direction of the two sensors. One side of the comparison data is the reading from the hand six-dimensional force sensor 7, and the other side is the decoupled and filtered data from the wrist sensor signal. Through the transformation relationship between the slave hand device's own coordinate system and the slave hand six-dimensional force sensor 7's own coordinate system, the force signal collected from the slave hand six-dimensional force sensor 7 and the slave hand's own force sensing signal are converted into the same coordinate system (taken The coordinate system where the test platform is located), comprehensively evaluate and calibrate performance parameters such as force sensing accuracy, sensitivity, linearity, orthogonality, dead zone, hysteresis, and delay of the slave device. During the test, the controller controlled the slave hand in different end postures to verify the correctness of the decoupling and compensation algorithms.

Embodiments of the master-slave handheld online testing method in the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

After the Omega.7 master hand device and the Franka slave hand device have completed their respective calibrations, they are connected to form a complete remote operation closed-loop system, that is, the force sensing signal from the hand end is fed back to the actuator of the master hand end to form a force output. The master hand control end is fixed on the master hand force feedback test calibration platform in the aforementioned manner, and the slave hand equipment force sensing test calibration platform is fixed in the slave hand working area in the aforementioned manner. The controller of the Franka robot arm controls the movement of the Franka slave hand and the end effector Robotiq two-finger gripper, completes touching, pushing and pulling actions on the slave hand operating object 8, and simultaneously records the slave hand's six-dimensional force sensor 7 and the master hand. The force data sensed by the six-dimensional force sensor 4 in the three directions of x, y, and z axes in its own coordinate system. Convert the two to the same coordinate system (take the coordinate system where the object platform is located), conduct a comprehensive performance evaluation and calibration of the force sensing-force reproduction process of the entire master-slave teleoperation device, and evaluate the correctness of the coordinate transformation of the force feedback algorithm. , filtering ability, correction and compensation ability, delay and other indicators are tested.

The invention discloses a test platform and test method for the force feedback function of remote operation equipment, which includes a master hand equipment force feedback test calibration platform and a slave hand equipment force perception test calibration platform, as well as a master hand performance test calibration method and a slave hand performance test. Calibration method and master-slave online test method. The main hand equipment force feedback test calibration platform includes a main hand platform base, a main hand six-dimensional force sensor, a main hand sensor fastening connection flange, a main hand sensor input flange, a manual slide table, a slide bracket, and a main hand hand. The handle hoop; the slide bracket is fixed on the main hand platform base; the manual slide is fixed on the slide bracket; the main hand six-dimensional force sensor is fixed on the manual slide; the main hand six-dimensional The force sensor is connected to the main hand handle clamp through the main hand sensor input flange. The force feedback test and calibration method of the main hand device tests and calibrates the force feedback function of the main hand control device. For details, see the content of the invention. The slave device force sensing test calibration platform includes a slave hand platform base, a slave hand six-dimensional force sensor, and a slave hand operating object; the slave hand six-dimensional force sensor is fixed on the slave hand platform base, and its input end is connected through the sensor The flange is fixed with hand-operated objects. The force sensing test and calibration method of the slave device tests and calibrates the force sensing performance of the slave device. For details, see the content of the invention. The master-slave online test method conducts a complete performance test on the force feedback function of the master-slave remote control device. For details, see the content of the invention.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", The orientations or positional relationships indicated by "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying the device referred to. Or elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above. Those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. The embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily without conflict.

Claims (6)

1. A test device for the force feedback function of remote operation equipment, which is characterized in that it includes: a master hand device, a force feedback test and calibration platform for the master hand device, and a force perception test and calibration platform for the slave hand device; The master hand device force feedback test and calibration platform is connected to the slave hand device force perception test and calibration platform; The main hand equipment force feedback test and calibration platform is used to test and calibrate the main hand equipment; The main hand equipment force feedback test calibration platform includes: main hand platform base (1), main hand six-dimensional force sensor (4), manual slide table (3), slide table bracket (2) and main hand handle clamp ( 5); The main hand platform base (1) is connected to the slide bracket (2); The slide bracket (2) is connected to the manual slide (3); The main hand six-dimensional force sensor (4) is connected to the manual slide (3); The main hand six-dimensional force sensor (4) is connected to the main hand handle hoop (5); Also included: hand-held equipment; The slave device force sensing test and calibration platform can test and calibrate the force/torque detection function of the slave device; The slave hand device force perception test calibration platform includes: the slave hand platform base (6), the slave hand six-dimensional force sensor (7), and the slave hand operating object (8); The slave hand six-dimensional force sensor (7) includes: the slave hand sensor input flange (71); The slave six-dimensional force sensor (7) is tightly connected to the slave platform base (6); The slave hand six-dimensional force sensor (7) is equipped with a slave hand sensor input flange (71); The slave hand six-dimensional force sensor (7) is tightly connected to the slave hand operating object (8). 2. The testing device for force feedback function of remote operation equipment according to claim 1, characterized in that the main hand six-dimensional force sensor (4) includes: a main hand sensor fastening connection flange (41), a main hand sensor Sensor input flange (42); The panel of the main hand platform base (1) is provided with a grid of positioning holes; The positioning hole grid on the panel of the main hand platform base (1) can adjust the position of the slide bracket (2); The positioning hole grid on the panel of the main hand platform base (1) can fasten different main hand equipment; the slide bracket (2) is in an inverted T shape; The slide bracket (2) is tightly connected to the main hand platform base (1). 3. The testing device for force feedback function of remote operation equipment according to claim 2, characterized in that the manual slide (3) includes: a slide base (35), a guide shaft (34), and a screw (33) , knob (32), slider (31); The slide base (35) is vertically fastened to the slide bracket (2); the slide block (31) is connected to the screw (33); The rotation of the screw (33) drives the slider (31) to move linearly; The guide shaft (34) is evenly distributed on both sides of the screw (33) and is tightly connected with the slider (31) to ensure that the slider (31) moves axially linearly along the screw (33); The knob (32) is tightly connected to the top of the screw (33), and the rotation of the screw (33) can be achieved by manually rotating the knob (32). The two cooperate coaxially; the main hand six-dimensional force sensor (4) The main hand sensor is fastened to the sliding block (31) in the manual sliding table (3) through the fastening connection flange (41), and its height change is adjusted by rotating the knob (32) to drive the sliding block (31). Linear motion is achieved; the input end of the main hand six-dimensional force sensor (4) is connected to the main hand handle hoop (5) through the main hand sensor input flange (42). 4. The test device for force feedback function of remote operation equipment according to claim 1, further comprising: a main hand operating handle; The main hand handle hoop (5) can clamp the main hand operating handle. 5. A test method for the force feedback function of remote operation equipment, characterized in that the test device for the force feedback function of remote operation equipment according to any one of claims 1 to 4 is used, including: Step S1: Test and calibrate the force feedback function of the main hand control device; Step S2: Fasten the main hand control end to the main hand force feedback test calibration platform in the aforementioned manner, and the main hand equipment controller sends force feedback instructions to the main hand control mechanism to obtain the force output signal; The output signal includes: force/torque signals with different directions and sizes; Step S3: Synchronously record the force/torque data sensed by the six-dimensional force sensor (4) of the main hand in the three directions of x, y, and z axes in its own coordinate system; Step S4: Through the transformation relationship between the main hand's own coordinate system and the main hand's six-dimensional force sensor (4)'s own coordinate system, convert the force/torque signal and force feedback command signal collected by the main hand's six-dimensional force sensor (4) into Under the same coordinate system, conduct a comprehensive evaluation and parameter calibration of the force feedback performance of the main hand device; Also includes: Step S5: Test and calibrate the force sensing performance of the slave hand device. The force sensing test and calibration platform of the slave hand device is firmly connected in the slave hand working area, and the slave hand controller controls the slave hand end effector. Send instructions to complete the touching, pushing and pulling actions on the slave hand operating object (8), and simultaneously record the force/torque data sensed by the force sensor of the slave hand device itself, and the six-dimensional force sensor (7) of the slave hand on its own Force/torque data perceived in the three directions of x, y, and z axes in the coordinate system; Through the transformation relationship between the slave hand device's own coordinate system and the slave hand six-dimensional force sensor (7)'s own coordinate system, the force/torque signal collected from the slave hand six-dimensional force sensor (7) and the slave hand's own force sensing signal are converted into Under the same coordinate system; Comprehensive evaluation and parameter calibration of the force sensing performance of the slave device; Also includes: Step S6: After the master mobile device and the slave mobile device complete their respective calibrations, they are connected to form a complete remote operation closed-loop system; The control end of the master hand is fastened to the master hand force feedback test and calibration platform, and the slave hand equipment force sensing test and calibration platform is fastened to the slave hand working area in the aforementioned manner. 6. The method for testing the force feedback function of a remote operation device according to claim 5, further comprising: Step S7: The master hand controller sends instructions to the slave hand end effector, touches, pushes and pulls the slave hand operating object (8), and simultaneously records the slave hand six-dimensional force sensor (7) and the master hand six-dimensional force sensor ( 4) Force/torque data perceived in the three directions of x, y, and z axes in its own coordinate system; Convert the two into the same coordinate system, and conduct a comprehensive performance evaluation and parameter calibration of the force sensing/force reproduction process of the entire master-slave teleoperation device.