CN106584453A - Spacecraft manipulator man-machine interactive system integrated with intelligent terminal - Google Patents
Spacecraft manipulator man-machine interactive system integrated with intelligent terminal Download PDFInfo
- Publication number
- CN106584453A CN106584453A CN201610423346.1A CN201610423346A CN106584453A CN 106584453 A CN106584453 A CN 106584453A CN 201610423346 A CN201610423346 A CN 201610423346A CN 106584453 A CN106584453 A CN 106584453A
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- Prior art keywords
- control
- module
- mechanical arm
- intelligent terminal
- parameter
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40192—Control modes, velocity for coarse, position for fine, hand for gripper
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention relates to a spacecraft manipulator man-machine interactive system. The spacecraft manipulator man-machine integrative system comprises a control module and an intelligent terminal module. The control module comprises a), a wireless communication module 1, b), a control strategy determining module and c), a manipulator monitoring module, wherein the control strategy determining module is used for determining the current control strategy of a manipulator system according to the received control mode code and the system parameter state. The intelligent terminal module comprises a), a wireless communication module 2, b), a man-machine integrative module, c), a mode set control response module and d), a parameter processing display module. By means of the method, in the interactive operation process of an operator and a manipulator, the operator can conduct control strategy switch and parameter monitoring conveniently and fast on the manipulator system, and the man-machine interactive process is more efficient and simpler.
Description
Technical field
The invention belongs to the control technology field of mechanical arm, in particular it relates to a kind of using intelligent handss
The intelligent terminal such as machine, wrist-watch realize people's method for interacting convenient with mechanical arm.
Background technology
" flexible follow-up control method for spacecraft mechanical arm " (patent publication No.：CN103640022A it is) open
A kind of flexible follow-up control method for spacecraft mechanical arm, by directly being acted on installed in mechanical arm end with staff
The load at end, force situation of the control system according to staff are produced using certain control algolithm control machinery arm
Action so as to end with human hand movement, the ideal effect for producing in this way be mechanical arm tail end load by
Human hand movement is followed according to the intention of operator, people is approximately equivalent to and the skyborne object that suspends is operated, this
Sample people can intuitively carry out pose tune to mechanical arm tail end load according to the custom of the operation object being commonly formed day
It is whole.
In the practical application of " flexible follow-up control method for spacecraft mechanical arm ", need according to applying working condition
The different control strategies of different switchings, such as when being intended merely to be operated object translation and do not rotate, need switching to control
Control strategy of the system processed to " translation ", when being intended merely to be operated object rotation and do not move, needs switching
Control strategy of the control system to " rotation ", according to actual condition demand, has several different control strategy,
Frequent switching is needed in use.Additionally, in actual applications, operator need monitoring force transducer in real time
Data, robot motion's parameter, judge to make manipulation in time.
Generally, the control system volume of mechanical arm, weight are big, and portability is poor, often fixed placement somewhere,
During people's manipulation manipulator motion, it is not easy to carry out " controlling tactic switch " and " parameter monitoring ", wishes
Hope " controlling tactic switch " and " parameter can be realized by touch, portable or wearable intelligent terminal
Two functions of monitoring ".So intelligent terminal can be fixed on robot end or be worn on operator,
Operator can easily monitoring system parameters in real time, and carry out the operation such as " controlling tactic switch ".
The content of the invention
The present invention is based on " flexible follow-up control method for spacecraft mechanical arm " (patent publication No.：
CN103640022A), a kind of spacecraft mechanical arm man-machine interaction method for incorporating intelligent terminal is proposed, is adopted
This method, operator can use touch, portable or wearable intelligent terminal to realize to mechanical arm system
System " controlling tactic switch " and " parameter monitoring ", are combined with flexible follow-up control method, are realized easily
Man-machine interaction.
To achieve these goals, present invention employs following technical scheme：
A kind of spacecraft mechanical arm man-machine interactive system for incorporating intelligent terminal, including control module and intelligent terminal's mould
Block：
Wherein control module includes：
A) wireless communication module 1：Set up with the wireless communication module 2 of intelligent terminal and be connected, and periodically
Exchange data, in a communication cycle, by mechanical arm and thereon sensor major parameter is sent to intelligent terminal,
And receive the control model code name that intelligent terminal sends；
B) control strategy determining module：Control model code name and systematic parameter state according to receiving determines works as
The front control strategy to mechanical arm system；
C) mechanical arm monitoring module：The current state information and sensing data of mechanical arm are read, and to machinery
Arm sends motion control instruction.
Intelligent terminal's module includes：
A) wireless communication module 2：Set up with the wireless communication module 1 of control module and be connected, and periodically
Exchange data, in a communication cycle, control model code name is sent to mechanical arm control system by intelligent terminal,
And receive mechanical arm that mechanical arm control system sends and sensor major parameter thereon；
B) human-computer interaction module：Control is shown in intelligent terminal's Touch Screen display pattern setting control and parameter,
Pattern sets control for responding when operator clicks on, and parameter shows that control is used to show mechanical arm control
Mechanical arm that system is sent and thereon sensor major parameter；
C) pattern setting control respond module：When operator's point blow mode sets control, according to different controls
The corresponding control of pattern, generates corresponding control model code；
D) parameter processing display module：Mechanical arm that mechanical arm control system is sent and sensor is main thereon
Parameter, is processed, and is displayed on corresponding parameter display control.
Compared with existing method, method proposed by the present invention can be interacted with mechanical arm in operator and be operated
Cheng Zhong, makes operator carry out " controlling tactic switch " and " parameter monitoring " with convenient mechanical arm system over the ground,
Make interactive process highly efficient simple.
Description of the drawings
Mechanical arm man-machine interactive system composition schematic diagrams of the Fig. 1 for embodiment of the present invention.
Intelligent terminal touch interface composition schematic diagrams of the Fig. 2 for embodiment of the present invention.
Software module composition schematic diagrams of the Fig. 3 for embodiment of the present invention.
Wherein, 1- mechanical arms, 2- machinery arm controllers, 3- intelligent terminal, 4- operators, 5- patterns
Select area, 6- parameter display areas.
Specific embodiment
Introduced below is the specific embodiment as content of the present invention, below by specific embodiment
The content of the present invention is further illustrated.Certainly, it is only example sheet to describe following detailed description
The content of the different aspect of invention, and should not be construed as limiting the invention scope.
Software module needed for enforcement is constituted as shown in figure 3, the software module of robot control system part is：
A) wireless communication module：Set up with " wireless communication module " of intelligent terminal and be connected, and periodically
Exchange data, in a communication cycle, by mechanical arm and thereon sensor major parameter is sent to intelligent terminal,
And receive the control model code name that intelligent terminal sends；
B) control strategy determining module：Control model code name and systematic parameter state according to receiving determines works as
The front control strategy to mechanical arm system；
C) mechanical arm monitoring module：The current state information and sensing data of mechanical arm are read, and to machinery
Arm sends motion control instruction.
The software module of intelligent terminal part is：
A) wireless communication module：Set up with " wireless communication module " of mechanical arm control system and be connected, and week
The exchange data of phase property, in a communication cycle, control model code name is sent to mechanical arm control by intelligent terminal
System processed, and receive mechanical arm that mechanical arm control system sends and sensor major parameter thereon；
B) human-computer interaction module：Control is shown in intelligent terminal's Touch Screen display pattern setting control and parameter,
Pattern sets control for responding when operator clicks on, and parameter shows that control is used to show mechanical arm control
Mechanical arm that system is sent and thereon sensor major parameter；
C) pattern setting control respond module：When operator's point blow mode sets control, according to different controls
The corresponding control of pattern, generates corresponding control model code；
D) parameter processing display module：To on mechanical arm control system；
As shown in figure 1, by intelligent terminal 3 be arranged on mechanical arm 1 end on be easy to by operator 4 observe with
The position touched.Intelligent terminal 3 is set up with mechanical arm controller 2 by wifi and is communicated；Intelligent terminal 3 with
2 periodic exchange data of mechanical arm controller, in a communication cycle, intelligent terminal 3 is by control model
Code name is sent to mechanical arm control system, code name " c1 ", " c2 ", " c3 ", " c4 " generation respectively
Table control model 1～4, mechanical arm controller 2 select corresponding control strategy according to control model code name, work as behaviour
When author 3 clicks on the button in 3 touch interface model selection area 5 of intelligent terminal, present control mode code name becomes
The code name of button is clicked on for correspondence, and is sent to mechanical arm controller 2, realize the switching of control model.Machinery
Mechanical arm 1 and thereon sensor major parameter are sent to intelligent terminal 3 by arm controller 2, and intelligent terminal 3 will
These parameters are displayed on touch interface parameter display area 6, and operator is capable of achieving by checking parameter display area 6
Parameter is monitored.
Although above the specific embodiment of the present invention being described in detail and being illustrated, it should be noted that
It is that we can be made various changes and modifications to above-mentioned embodiment, but these is without departure from the essence of the present invention
Scope described in refreshing and appended claim.
Claims (2)
1. a kind of spacecraft mechanical arm man-machine interactive system for incorporating intelligent terminal, including control module and intelligent terminal
Module：
Wherein control module includes：
A) wireless communication module 1：Set up with the wireless communication module 2 of intelligent terminal and be connected, and periodically
Exchange data, in a communication cycle, by mechanical arm and thereon sensor major parameter is sent to intelligent terminal,
And receive the control model code name that intelligent terminal sends；
B) control strategy determining module：Control model code name and systematic parameter state according to receiving determines works as
The front control strategy to mechanical arm system；
C) mechanical arm monitoring module：The current state information and sensing data of mechanical arm are read, and to machinery
Arm sends motion control instruction.
Intelligent terminal's module includes：
A) wireless communication module 2：Set up with the wireless communication module 1 of control module and be connected, and periodically
Exchange data, in a communication cycle, control model code name is sent to mechanical arm control system by intelligent terminal,
And receive mechanical arm that mechanical arm control system sends and sensor major parameter thereon；
B) human-computer interaction module：Control is shown in intelligent terminal's Touch Screen display pattern setting control and parameter,
Pattern sets control for responding when operator clicks on, and parameter shows that control is used to show mechanical arm control
Mechanical arm that system is sent and thereon sensor major parameter；
C) pattern setting control respond module：When operator's point blow mode sets control, according to different controls
The corresponding control of pattern, generates corresponding control model code；
D) parameter processing display module：Mechanical arm that mechanical arm control system is sent and sensor is main thereon
Parameter, is processed, and is displayed on corresponding parameter display control.
2. spacecraft mechanical arm man-machine interactive system as claimed in claim 1, wherein the intelligent terminal possesses aobvious
Display screen, with touch control, radio communication function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423346.1A CN106584453A (en) | 2016-06-15 | 2016-06-15 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610423346.1A CN106584453A (en) | 2016-06-15 | 2016-06-15 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
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| CN106584453A true CN106584453A (en) | 2017-04-26 |
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| CN201610423346.1A Pending CN106584453A (en) | 2016-06-15 | 2016-06-15 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110850780A (en) * | 2019-11-27 | 2020-02-28 | 五邑大学 | Medical remote control system |
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| US20020161480A1 (en) * | 2001-02-16 | 2002-10-31 | Sanyo Electric Co., Ltd. | Robot system and robot |
| CN103101054A (en) * | 2013-01-17 | 2013-05-15 | 上海交通大学 | Programming and control system of mobile phone to robot |
| CN203228237U (en) * | 2013-04-11 | 2013-10-09 | 东华大学 | Learning-memorizing type manipulator system |
| CN103631221A (en) * | 2013-11-20 | 2014-03-12 | 华南理工大学广州学院 | Teleoperated service robot system |
| CN104476548A (en) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | Excavating robot autonomous working control system and method |
| CN104889799A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot controller for controlling robot which supplies and discharges workpiece |
| CN205184776U (en) * | 2015-12-16 | 2016-04-27 | 湖南科技大学 | Remove robot control device based on data glove |
| CN105611053A (en) * | 2015-12-23 | 2016-05-25 | 北京工业大学 | Mobile robot control system based on smart phone |
-
2016
- 2016-06-15 CN CN201610423346.1A patent/CN106584453A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020161480A1 (en) * | 2001-02-16 | 2002-10-31 | Sanyo Electric Co., Ltd. | Robot system and robot |
| CN103101054A (en) * | 2013-01-17 | 2013-05-15 | 上海交通大学 | Programming and control system of mobile phone to robot |
| CN203228237U (en) * | 2013-04-11 | 2013-10-09 | 东华大学 | Learning-memorizing type manipulator system |
| CN103631221A (en) * | 2013-11-20 | 2014-03-12 | 华南理工大学广州学院 | Teleoperated service robot system |
| CN104889799A (en) * | 2014-03-07 | 2015-09-09 | 发那科株式会社 | Robot controller for controlling robot which supplies and discharges workpiece |
| CN104476548A (en) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | Excavating robot autonomous working control system and method |
| CN205184776U (en) * | 2015-12-16 | 2016-04-27 | 湖南科技大学 | Remove robot control device based on data glove |
| CN105611053A (en) * | 2015-12-23 | 2016-05-25 | 北京工业大学 | Mobile robot control system based on smart phone |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110850780A (en) * | 2019-11-27 | 2020-02-28 | 五邑大学 | Medical remote control system |
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