CN102873684A - Five-degree-of-freedom manipulator, drive circuit and control method - Google Patents
Five-degree-of-freedom manipulator, drive circuit and control method Download PDFInfo
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- CN102873684A CN102873684A CN201210349174XA CN201210349174A CN102873684A CN 102873684 A CN102873684 A CN 102873684A CN 201210349174X A CN201210349174X A CN 201210349174XA CN 201210349174 A CN201210349174 A CN 201210349174A CN 102873684 A CN102873684 A CN 102873684A
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Abstract
The invention discloses a five-degree-of-freedom manipulator. The manipulator comprises a manipulator big arm, a manipulator small arm, a first wrist, a second wrist as well as a manipulator palm, which are sequentially connected with one another, the five-degree-of-freedom manipulator further comprises a first steering gear and a second steering gear, which are arranged on two sides of the bottom of the manipulator big arm in a parallel-connection manner and used for controlling the operation of the manipulator big arm, a third steering gear used for driving the manipulator small arm to move, a fourth steering gear used for driving the first wrist to move, a fifth steering gear used for driving the second wrist to move and a sixth steering gear used for driving the manipulator palm to move. The invention further discloses a driver circuit and a control method for the five-degree-of-freedom manipulator. Compared with a two-degree-of-freedom manipulator or a three-degree-of-freedom manipulator, the five-degree-of-freedom manipulator is more flexible to move and can increase the scope of the manipulator palm in grab objects.
Description
Technical field
The present invention relates to the manipulator field, relate in particular to a kind of five degree of freedom manipulator, drive circuit and control method.
Background technology
Nowadays; the effect of manipulator is increasing; it can replace people's mechanization and the automation of heavy work to realize producing, and can operate under hostile environment with the protection personal safety, thereby be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Manipulator mainly is comprised of hand and motion.In order to grasp the object in the space, manipulator needs a plurality of frees degree.The free degree is more, and the flexibility of manipulator is larger, and versatility is wider, and its structure is also more complicated.General special manipulator has 2 or 3 frees degree, and its kind can be divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical type manipulator by type of drive.
At present, the electrodynamic type manipulator mainly adopts single steering engine to drive the single mechanical arm of control.Because the weight of whole mechanical arm is larger, required driving torque is also larger, and used steering wheel is had relatively high expectations.If for wider crawl space object, need to increase the free degree of mechanical arm, also make the mechanism of mechanical arm more complicated, weight also increases thereupon.The large arm of the existing machinery that utilizes single steering engine to drive, its driving force is limited, and its free degree is generally all fewer, when the free degree is more, the phenomenon that large arm driving force is not enough and manipulator is shaken can occur.
Summary of the invention
Main purpose of the present invention provides the large arm driving force of a kind of manipulator stable five degree of freedom manipulator and control circuit and control method.
A kind of five degree of freedom manipulator that the present invention proposes, comprise successively the large arm of manipulator, manipulator forearm, the first wrist, the second wrist and the manipulator palm that connect, described five degree of freedom manipulator also comprises and is arranged on that both sides, described manipulator large arm bottom are arranged in parallel, as to be used for controlling the large arm running of described manipulator the first steering wheel and the second steering wheel; Be used for driving the 3rd steering wheel of described manipulator forearm motion; Drive the 4th steering wheel of described the first Wrist-sport; Drive the 5th steering wheel of described the second Wrist-sport; Drive the 6th steering wheel of described manipulator palm motion.
Preferably, described the first steering wheel and the second steering wheel are oppositely arranged, and make described the first steering wheel of synchronization control the angle of the large arm one side running of described manipulator and the angle complementation that described the second steering wheel is controlled the large arm opposite side running of described manipulator.
Preferably, described manipulator palm comprises that left hand refers to refer to the right hand, and described left hand refers to refer to the right hand to be respectively arranged with for driving this left hand and refers to refer to the driving gear and the driven gear that move with the right hand, and described driving gear is connected with described the 6th steering wheel.
Preferably, described driving gear is identical with the specification of driven gear.
The present invention further also proposes a kind of drive circuit of five degree of freedom manipulator, be used for controlling above-mentioned five degree of freedom manipulator, this drive circuit comprises controller, the drive circuit chip that is connected with this controller, the shift clock input of described drive circuit chip is connected the same output of described controller with the latch clock input, the serial data pin input end of described drive circuit chip connects another output of described controller, and six outputs of described drive circuit chip parallel data output connect described the first steering wheel to the six steering wheels successively.
The present invention further also proposes a kind of control method of five degree of freedom manipulator, and based on above-mentioned drive circuit control five degree of freedom manipulator, this control method may further comprise the steps:
The large arm of manipulator is set rotates forward initial angle α, set the angle on target value of described the first steering wheel and the second steering wheel according to described initial angle α;
Angle on target value according to described the first steering wheel and the second steering wheel generates the target pwm value;
According to described target pwm value, Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value, make the large arm of manipulator arrive the target location.
Preferably, arranging before the large arm of manipulator rotates forward initial angle α, further comprising the steps of:
The driving pin of initialization controller;
Initialize the first steering wheel to the six steering wheels to 90 ° position;
Timer in the initialization controller.
Preferably, described angle on target value according to initial angle α No. 1 steering wheel of setting and No. 2 steering wheels is specially:
The angle on target value of the first steering wheel is set as 90 °-α, the angle on target value of the second steering wheel be set as 180 °-(90 °-α).
Preferably, described Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value and are specially:
Upgrade the current pwm value of the first steering wheel and the second steering wheel according to certain cycle, make the current pwm value of the first steering wheel increase successively a unit angle value, the current pwm value of the second steering wheel reduces by a unit angle value successively simultaneously, until the current pwm value of the first steering wheel and the second steering wheel reaches corresponding target pwm value.
Preferably, described angular unit value is 1 ° of corresponding pwm value of the large arm motion of steering wheel driving mechanical hand.
Five degree of freedom manipulator provided by the invention by the steering wheel respectively large arm of driving mechanical hand, manipulator forearm, the first wrist, the second wrist and the motion of manipulator palm are set, has been realized the five degree of freedom of manipulator.The five degree of freedom manipulator is compared with 2 or 3DOF manipulator, and activity is more flexible, has also increased the scope of manipulator palm crawl object simultaneously.
Description of drawings
Fig. 1 is the structural representation of five degree of freedom manipulator of the present invention;
Fig. 2 is the structural representation of the drive circuit of five degree of freedom manipulator of the present invention;
Fig. 3 is the schematic flow sheet of an embodiment of the control method of five degree of freedom manipulator of the present invention;
Fig. 4 is the schematic flow sheet of another embodiment of the control method of five degree of freedom manipulator of the present invention.
The realization of the object of the invention, functional characteristics and advantage are described further with reference to accompanying drawing in connection with embodiment.
The specific embodiment
Be described further with regard to technical scheme of the present invention below in conjunction with drawings and the specific embodiments.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
The present invention proposes a kind of five degree of freedom manipulator.
With reference to Fig. 1, the structural representation of five degree of freedom manipulator of the present invention.
In the present embodiment, this five degree of freedom manipulator, comprise the large arm of manipulator, manipulator forearm, the first wrist, the second wrist and the manipulator palm that connect successively, also comprise being arranged on that both sides, manipulator large arm bottom are arranged in parallel, as to be used for the large arm running of control manipulator the first steering wheel and the second steering wheel; The 3rd steering wheel that is used for the motion of driving mechanical arm; Drive the 4th steering wheel of the first Wrist-sport; Drive the 5th steering wheel of the second Wrist-sport; The 6th steering wheel of driving mechanical hand palm motion.When control manipulator palm crawl object, program calculates the angle that each part need to be moved, and then by the motion of control the first steering wheel to the six steering wheels, makes manipulator arrive assigned address crawl object.
By the steering wheel respectively large arm of driving mechanical hand, manipulator forearm, the first wrist, the second wrist and the motion of manipulator palm are set, realized the five degree of freedom of manipulator.The five degree of freedom manipulator is compared with 2 or 3DOF manipulator, and activity is more flexible, has also increased the scope of manipulator palm crawl object simultaneously.
In the above-described embodiments, the first steering wheel 101 and the second steering wheel 102 are 180 ° of angle steering wheels, while the first steering wheel 101 and the second steering wheel 102 need to be oppositely arranged, and make the angle of the large arm 10 1 sides running of synchronization the first steering wheel 101 control manipulators and the angle complementation of the large arm 10 opposite sides running of the second steering wheel 102 control manipulators.Set the first steering wheel 101 and the second steering wheel 102 is initial position 0 ° position, when the large arm 10 of needs control manipulator moves to alpha position, then need to send rotational angle be that the control signal of α is to the first steering wheel 101 to controller, send simultaneously the control signal of angle 180-α to the second steering wheel 102, at this moment, the first steering wheel 101 turns to alpha position gradually from 0 °, the second steering wheel 102 turns to the 180-alpha position gradually from 0 °, to guarantee that simultaneously the rotational angle of the first steering wheel 101 and the second steering wheel 102 is complementary under synchronization, like this, the large arm 10 of manipulator in the running, its left side, the motion of right both sides can be consistent, thereby makes the large arm 10 of manipulator run to desired location.
By 180 ° of angle steering wheels are set, the angle of the running of the first steering wheel 101 and the second steering wheel 102 synchronizations is complementary simultaneously, has realized that large arm 10 arranged on left and right sides of manipulator are synchronized with the movement.
In addition, preferably the 3rd steering wheel 201 and the 4th steering wheel 301 are arranged on the inboard of manipulator forearm 20; The 5th steering wheel 401 is arranged between the first wrist 30 and the second wrist 40, and connects the first wrist 30 and the second wrist 40; The 6th steering wheel 501 is arranged on the second wrist 40.When manipulator grasps some objects, after the calculating by program, drive respectively the large arm 10 of corresponding manipulator, manipulator forearm 20, the first wrist 30, the second wrist 40 and manipulator palm 50 by the first steering wheel 101 to the 6th steering wheels and do corresponding motion, thereby arrive this object of crawl on the assigned address., single steering wheel controls separately the part motion of manipulator by being set, make the large arm 10 of manipulator, manipulator forearm 20, the first wrist 30, the second wrist 40 and the manipulator palm 50 can independently moving and be not subjected to the impact of other parts, thereby make the performance of this five degree of freedom manipulator more reliable.
In the above-described embodiments, manipulator palm 50 comprises that left hand refers to refer to the right hand, and left hand refers to refer to the right hand to be respectively arranged with for driving this left hand and refers to refer to the driving gear and the driven gear that move with the right hand, and driving gear is connected with the 6th steering wheel 501.Left hand refers to refer to preferably use the releasable connection screw with the right hand, and can design different paws accordingly, cooperates the difform object of crawl, only refers to refer to get final product with the right hand with changing difform left hand.When manipulator palm 50 crawl object, 501 work of the 6th steering wheel drive with left hand and refer to that the driving gear that is connected moves, thereby the driving gear motion drives the driven gear motion that cooperates with it, and then make the right hand refer to also do corresponding motion, left hand refers to close with right hand assignment, realizes the crawl object.
By the motion that cooperate control manipulator palm 50 of driving gear with driven gear, not only need not to left and right finger corresponding steering wheel be set separately separately, like this, whole five degree of freedom manipulator simple structure, simultaneously, use same steering wheel to control left and right finger and be synchronized with the movement, and the motion that does not need to use single program to carry out left and right finger is controlled.
In the above-described embodiments, driving gear can be set identical with the specification of driven gear.When driving gear identical with the driven gear model, like this when the 6th steering wheel 501 is given to driving gear with driving force, because the gearratio of driving gear and driven gear is 1, when an object of crawl, left hand refers to refer to that with the right hand driving force of received steering wheel is identical, when making manipulator palm 50 crawl object left and right finger stressed evenly.Be set to identically by driving gear and the model of driven gear, more stable when making this five degree of freedom manipulator crawl object, object is difficult for dropping.
The present invention further also proposes a kind of drive circuit of five degree of freedom manipulator, is used for the five degree of freedom manipulator of control above-described embodiment.
With reference to Fig. 2, the structural representation of the drive circuit of five degree of freedom manipulator of the present invention.
The drive circuit of the five degree of freedom manipulator in the present embodiment, comprise controller 60, and the drive circuit chip 70 that is connected with this controller 60, wherein, the shift clock input of drive circuit chip 70 is connected the same output of controller 60 with the latch clock input, the serial data pin input end of drive circuit chip 70 connects another output of controller 60, and six outputs of the parallel data output of drive circuit chip 70 connect the first steering wheel 101 to the 6th steering wheels 501 successively.The parallel data output of drive circuit chip 70 provided by the invention has eight pins, can control respectively eight steering wheel runnings, only uses in the present embodiment wherein six pins, connects six steering wheels.When the five degree of freedom manipulator need to increase extra servo driving, the steering wheel that increases is connected these drive circuit chip 70 remaining two pins get final product.
When five degree of freedom manipulator crawl object, after controller 60 calculates the angle that each steering wheel need to turn round, shift clock and latch clock in drive circuit chip 70 send data-signal, this data-signal is sent to drive circuit chip 70 by the serial data input in the drive circuit chip 70, drive circuit chip 70 is converted into PWM(Pulse Width Modulation with the data-signal that the controller 60 that receives sends again, pulse width modulation) signal, this pwm signal is exported from the parallel data output of drive circuit, thereby controls the running of corresponding steering wheel.The operation principle of steering wheel turns round for the variation of the pwm signal exported according to the parallel data output of drive circuit.
By the drive circuit of this structure is set, not only control algolithm is very ingenious, has realized serial input, the parallel output of data, has also saved the port resource of controller simultaneously.
The present invention further also proposes a kind of control method of five degree of freedom manipulator, is applied to the five degree of freedom manipulator of above-described embodiment.
With reference to Fig. 3, Fig. 3 is the schematic flow sheet of an embodiment of the control method of five degree of freedom manipulator of the present invention.
In the present embodiment, the control method of five degree of freedom manipulator may further comprise the steps:
Step S10 arranges the large arm of manipulator and rotates forward initial angle α, sets the angle on target value of the first steering wheel and the second steering wheel according to initial angle α;
The initial angle value α that the large arm of manipulator need to turn round at first is set, drive circuit is set the angle on target value of the first steering wheel and the second steering wheel according to initial angle value α, after having set the angle on target value of the first steering wheel and the second steering wheel, it is progressively mobile that drive circuit further drives the first steering wheel and the second steering wheel according to the angle on target value.
Step S20 is according to the angle on target value generation target pwm value of the first steering wheel and the second steering wheel;
After having set the angle on target value of the first steering wheel and the second steering wheel, because the movement of steering wheel is pwm signal control, namely control the running of steering wheel by pwm value.Therefore, controller calculates the target pwm value first according to the angle on target value by computer program, makes the current pwm value of control steering wheel progressively reach the target pwm value again, and then the running of steering wheel is controlled.
Step S30, according to the target pwm value, Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value, make the large arm of manipulator arrive the target location.
After the angle on target value is converted into the target pwm value, according to this target pwm value, control the first steering wheel and the second steering wheel, its current pwm value reach in the process of target pwm value gradually at drive circuit, Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value, thereby the large arm of control manipulator arrives the target location.
The embodiment of the invention, the initial angle α that rotates forward by the large arm of manipulator is set, calculate again the angle on target value of the first steering wheel and the second steering wheel according to this initial angle α, angle on target value according to the first steering wheel and the second steering wheel generates the target pwm value, and then according to this target pwm value, Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value, make the large arm of manipulator arrive the target location.Adopt this method, realized in parallel by the first steering wheel and the second steering wheel, the large arm of the mechanical hand of driven in synchronism.
With reference to Fig. 4, Fig. 4 is the schematic flow sheet of another embodiment of the control method of five degree of freedom manipulator of the present invention.
On the basis of control method one embodiment of five degree of freedom manipulator of the present invention, before step S10, also comprise:
Step S40, the driving pin of initialization controller;
The driving pin of initialization controller, the signal that namely controller is sent in the drive circuit chip initializes.
Step S50 initializes the first steering wheel to the six steering wheels to 90 ° position;
By the controller in the drive circuit the first steering wheel to the six steering wheels are initialised to 90 ° of positions, when the running of drive circuit control steering wheel, steering wheel with 90 ° of positions as start position, the assigned address that calculates from this start position starting program of rerunning.
Step S60, the timer in the initialization controller.
Timer in the controller is initialized, when drive circuit prepare control steering wheel moves, begin counting by timer.
The embodiment of the invention drives pin by initializing drive circuit, initializes the first steering wheel to the six steering wheels to 90 ° position, the timer in the while initialization controller, and timer is counted take 0.5 μ s as a chronomere, and the result that will count adds 1.Need every interval certain hour to send the pwm value that data-signal changes steering wheel such as controller, such as upgrading a steering wheel pwm value every 1ms, at this moment, the count results for the treatment of counter is added at 2000 o'clock from 1, controller just can send data-signal to drive circuit chip, for the current pwm value that upgrades steering wheel.By drive circuit is initialized, make drive circuit get back to reset condition, thereby provide precondition for drive circuit drives steering wheel.
On the basis of control method one embodiment of five degree of freedom manipulator of the present invention, the angle on target value of setting the first steering wheel and the second steering wheel according to initial angle α among the step S10 is specially:
The angle on target value of the first steering wheel is set as 90 °-α, the angle on target value of the second steering wheel be set as 180 °-(90 °-α).
Cause the first steering wheel and the second steering wheel have all been got back to 90 ° of positions when initializing, when the initial angle value of the large arm of manipulator is α, this moment, the angle on target value with the first steering wheel was set as 90 °-α, because the angle on target value of the first steering wheel and the second steering wheel must be complementary, therefore, the angle on target value of the second steering wheel be set as 180 °-(90 °-α); And, when the first steering wheel and the second steering wheel reach the angle on target value simultaneously, just can make the large arm of manipulator arrive assigned address.Be 90 °-α by the angle on target value of setting the first steering wheel, the angle on target value of the second steering wheel is 180 °-(90 °-α), realized by in parallel the drive five degree of freedom manipulator of the first steering wheel with the second steering wheel.
On the basis of control method one embodiment of five degree of freedom manipulator of the present invention, step S30 is specially:
Upgrade the current pwm value of the first steering wheel and the second steering wheel according to some cycles, make the current pwm value of the first steering wheel increase successively an angular unit value, the current pwm value of the second steering wheel reduces by an angular unit value successively simultaneously, until the current pwm value of the first steering wheel and the second steering wheel reaches corresponding target pwm value, reach the running of Synchronization Control the first steering wheel and the second steering wheel.
Calculate needed time interval of angular unit value of the every running of steering wheel by computer program, export the continuous changing pwm signal of pwm value by drive circuit by this time interval again, reach the angle of progressively controlling the steering wheel running.Be specially: according to needed time interval of angular unit value of the every running of steering wheel, upgrade the current pwm value of the first steering wheel and the second steering wheel, make the current pwm value of the first steering wheel increase successively an angular unit value, make simultaneously the current pwm value of the second steering wheel reduce successively by an angular unit value, until the current pwm value of the first steering wheel and the second steering wheel all reaches corresponding target pwm value.By according to needed time interval of angular unit value of the every running of steering wheel, progressively increase or reduce the current pwm value of the first steering wheel and the second steering wheel, make its current pwm value progressively reach the target pwm value, so just further guaranteed to make the first steering wheel and the second steering wheel to realize the large arm running of Synchronization Control manipulator in parallel.
On the basis of control method one embodiment of five degree of freedom manipulator of the present invention, the angular unit value is 1 ° of corresponding pwm value of the large arm motion of steering wheel driving mechanical hand.Calculate 1 ° of corresponding time interval of the every running of steering wheel by computer program, and press the continuous changing pwm value of output in this time interval by drive circuit, thus the angle of control steering wheel running.
Be set to 1 ° of corresponding pwm value of the large arm motion of steering wheel driving mechanical hand by the angular unit value, realized the accurate control to the first steering wheel and the running of the second steering wheel.
The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure transformation that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. five degree of freedom manipulator, it is characterized in that, comprise successively the large arm of manipulator, manipulator forearm, the first wrist, the second wrist and the manipulator palm that connect, described five degree of freedom manipulator also comprises and is arranged on that both sides, described manipulator large arm bottom are arranged in parallel, as to be used for controlling the large arm running of described manipulator the first steering wheel and the second steering wheel; Be used for driving the 3rd steering wheel of described manipulator forearm motion; Drive the 4th steering wheel of described the first Wrist-sport; Drive the 5th steering wheel of described the second Wrist-sport; Drive the 6th steering wheel of described manipulator palm motion.
2. the large arm assembly of manipulator as claimed in claim 1, it is characterized in that, described the first steering wheel and the second steering wheel are oppositely arranged, and make described the first steering wheel of synchronization control the angle of the large arm one side running of described manipulator and the angle complementation that described the second steering wheel is controlled the large arm opposite side running of described manipulator.
3. five degree of freedom manipulator as claimed in claim 2, it is characterized in that, described manipulator palm comprises that left hand refers to refer to the right hand, described left hand refers to refer to the right hand to be respectively arranged with for driving this left hand and refers to refer to the driving gear and the driven gear that move with the right hand, and described driving gear is connected with described the 6th steering wheel.
4. the five degree of freedom manipulator described in the claims 1 to 3 any one is characterized in that, described driving gear is identical with the specification of driven gear.
5. the drive circuit of a five degree of freedom manipulator, be used for controlling above-mentioned five degree of freedom manipulator, it is characterized in that, comprise controller, the drive circuit chip that is connected with this controller, the shift clock input of described drive circuit chip is connected the same output of described controller with the latch clock input, the serial data pin input end of described drive circuit chip connects another output of described controller, and six outputs of described drive circuit chip parallel data output connect described the first steering wheel to the six steering wheels successively.
6. the control method of a five degree of freedom manipulator based on above-mentioned drive circuit control five degree of freedom manipulator, is characterized in that, may further comprise the steps:
The large arm of manipulator is set rotates forward initial angle α, set the angle on target value of described the first steering wheel and the second steering wheel according to described initial angle α;
Angle on target value according to described the first steering wheel and the second steering wheel generates the target pwm value;
According to described target pwm value, Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value, make the large arm of manipulator arrive the target location.
7. the control method of five degree of freedom manipulator as claimed in claim 6 is characterized in that, is arranging before the large arm of manipulator rotates forward initial angle α, also comprises:
The driving pin of initialization controller;
Initialize the first steering wheel to the six steering wheels to 90 ° position;
Timer in the initialization controller.
8. the control method of five degree of freedom manipulator as claimed in claim 7 is characterized in that, described angle on target value according to initial angle α No. 1 steering wheel of setting and No. 2 steering wheels is specially:
The angle on target value of the first steering wheel is set as 90 °-α, the angle on target value of the second steering wheel be set as 180 °-(90 °-α).
9. the control method of five degree of freedom manipulator as claimed in claim 8 is characterized in that, described Synchronization Control the first steering wheel and the second steering wheel reach the angle on target value and be specially:
Upgrade the current pwm value of the first steering wheel and the second steering wheel according to certain cycle, make the current pwm value of the first steering wheel increase successively a unit angle value, the current pwm value of the second steering wheel reduces by a unit angle value successively simultaneously, until the current pwm value of the first steering wheel and the second steering wheel reaches corresponding target pwm value.
10. such as the control method of the described five degree of freedom manipulator of any one in the claim 6 to 9, it is characterized in that, described angular unit value is 1 ° of corresponding pwm value of the large arm motion of steering wheel driving mechanical hand.
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| CN103522303A (en) * | 2013-10-30 | 2014-01-22 | 重庆科技学院 | Explosive ordnance disposal device of explosive ordnance disposal robot and control system and method thereof |
| CN103522303B (en) * | 2013-10-30 | 2015-10-28 | 重庆科技学院 | Explosive ordnance disposal device of explosive ordnance disposal robot and control system thereof and control method |
| CN108376509A (en) * | 2018-04-09 | 2018-08-07 | 重庆鲁班机器人技术研究院有限公司 | Teaching mechanical arm system and its control method |
| CN110757472A (en) * | 2019-10-10 | 2020-02-07 | 三峡大学 | Autonomous navigation medical patrol medicine delivery robot and use method thereof |
| CN110757472B (en) * | 2019-10-10 | 2021-04-13 | 三峡大学 | Autonomous navigation medical patrol medicine delivery robot and use method thereof |
| CN113246127A (en) * | 2021-05-20 | 2021-08-13 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN113246127B (en) * | 2021-05-20 | 2022-05-24 | 桂林电子科技大学 | Underwater pipeline inspection cleaning robot |
| CN117102562A (en) * | 2023-10-24 | 2023-11-24 | 常州法尔林精机有限公司 | Manipulator control system and method for planing machine processing automation production line |
| CN117102562B (en) * | 2023-10-24 | 2023-12-22 | 常州法尔林精机有限公司 | Manipulator control system and method for planing machine processing automation production line |
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