CN103085054B - 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 - Google Patents
带电抢修机器人主从式液压力反馈机械臂控制系统及方法 Download PDFInfo
- Publication number
- CN103085054B CN103085054B CN201310032246.2A CN201310032246A CN103085054B CN 103085054 B CN103085054 B CN 103085054B CN 201310032246 A CN201310032246 A CN 201310032246A CN 103085054 B CN103085054 B CN 103085054B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- microprocessor
- main hand
- module
- converter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008439 repair process Effects 0.000 title claims abstract description 15
- 230000008878 coupling Effects 0.000 title claims abstract description 13
- 238000010168 coupling process Methods 0.000 title claims abstract description 13
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 13
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000011664 signaling Effects 0.000 claims description 22
- 238000002955 isolation Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 210000000707 wrist Anatomy 0.000 claims description 6
- 239000004973 liquid crystal related substance Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 9
- 238000011160 research Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005662 electromechanics Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310032246.2A CN103085054B (zh) | 2013-01-29 | 2013-01-29 | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310032246.2A CN103085054B (zh) | 2013-01-29 | 2013-01-29 | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103085054A CN103085054A (zh) | 2013-05-08 |
CN103085054B true CN103085054B (zh) | 2016-02-03 |
Family
ID=48198435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310032246.2A Active CN103085054B (zh) | 2013-01-29 | 2013-01-29 | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103085054B (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104867394A (zh) * | 2015-04-28 | 2015-08-26 | 国家电网公司 | 一种液压机械臂现实虚拟互动综合实验平台 |
CN104827458A (zh) * | 2015-04-28 | 2015-08-12 | 山东鲁能智能技术有限公司 | 一种机械臂力觉临场感的主从遥操作控制系统及方法 |
CN105373033A (zh) * | 2015-10-14 | 2016-03-02 | 上海科学技术职业学院 | 一种基于无线串口传输的主从式步进电机控制系统 |
CN105922261B (zh) * | 2016-06-08 | 2018-09-11 | 四川中科智慧智能系统有限公司 | 一种机器人控制装置及其控制方法 |
CN106625629B (zh) * | 2016-12-01 | 2017-10-31 | 长沙科达智能装备股份有限公司 | 隧道多臂架、多关节作业设备的末端臂架姿态多模式自动控制装置及方法 |
CN106826756A (zh) * | 2016-12-09 | 2017-06-13 | 南京理工大学 | 一种基于高压带电作业机器人的导线修补方法 |
CN107053188A (zh) * | 2016-12-09 | 2017-08-18 | 南京理工大学 | 一种带电作业机器人支接引线搭接方法 |
CN107511826A (zh) * | 2017-09-08 | 2017-12-26 | 国机智能技术研究院有限公司 | 一种液压机器人的控制方法和系统 |
CN107803830A (zh) * | 2017-11-08 | 2018-03-16 | 山东优宝特智能机器人有限公司 | 一种七自由度力反馈液压驱动机械臂 |
CN108397446B (zh) * | 2018-03-20 | 2019-08-02 | 哈尔滨理工大学 | 一种集成式液压机器人关节控制器 |
CN110568780A (zh) * | 2018-06-05 | 2019-12-13 | 中国科学院宁波材料技术与工程研究所 | 一种主从协同的运动控制系统 |
CN108436884B (zh) * | 2018-06-08 | 2020-09-25 | 国网智能科技股份有限公司 | 带电检修机器人的一键还原控制方法及系统 |
CN109434817A (zh) * | 2018-12-10 | 2019-03-08 | 美钻深海能源科技研发(上海)有限公司 | 水下履带智能机器人工作臂单元 |
CN112440280A (zh) * | 2020-11-13 | 2021-03-05 | 国网天津市电力公司 | 一种具有主从控制功能的电力带电作业用液压机械臂 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008108289A1 (ja) * | 2007-03-01 | 2008-09-12 | Tokyo Institute Of Technology | 力覚提示機能を有する操縦システム |
CN201900645U (zh) * | 2010-12-10 | 2011-07-20 | 上海理工大学 | 基于力反馈的书法机器人系统 |
WO2011115287A1 (ja) * | 2010-03-15 | 2011-09-22 | 学校法人立命館 | マスタスレーブシステム及びその制御方法 |
CN102341046A (zh) * | 2009-03-24 | 2012-02-01 | 伊顿株式会社 | 利用增强现实技术的手术机器人系统及其控制方法 |
CN102615638A (zh) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | 高压带电作业机器人主从式液压机械臂系统 |
CN102819272A (zh) * | 2012-08-24 | 2012-12-12 | 广东工业大学 | 一种遥操作机器人力反馈控制系统及控制方法 |
CN203077287U (zh) * | 2013-01-29 | 2013-07-24 | 山东电力集团公司电力科学研究院 | 带电抢修机器人主从式液压力反馈机械臂控制系统 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7689320B2 (en) * | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
-
2013
- 2013-01-29 CN CN201310032246.2A patent/CN103085054B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008108289A1 (ja) * | 2007-03-01 | 2008-09-12 | Tokyo Institute Of Technology | 力覚提示機能を有する操縦システム |
CN102341046A (zh) * | 2009-03-24 | 2012-02-01 | 伊顿株式会社 | 利用增强现实技术的手术机器人系统及其控制方法 |
WO2011115287A1 (ja) * | 2010-03-15 | 2011-09-22 | 学校法人立命館 | マスタスレーブシステム及びその制御方法 |
CN201900645U (zh) * | 2010-12-10 | 2011-07-20 | 上海理工大学 | 基于力反馈的书法机器人系统 |
CN102615638A (zh) * | 2012-04-01 | 2012-08-01 | 山东鲁能智能技术有限公司 | 高压带电作业机器人主从式液压机械臂系统 |
CN102819272A (zh) * | 2012-08-24 | 2012-12-12 | 广东工业大学 | 一种遥操作机器人力反馈控制系统及控制方法 |
CN203077287U (zh) * | 2013-01-29 | 2013-07-24 | 山东电力集团公司电力科学研究院 | 带电抢修机器人主从式液压力反馈机械臂控制系统 |
Non-Patent Citations (1)
Title |
---|
六自由度力反馈主-从遥操作机器人系统研究;胡健;《中国优秀硕士学位论文全文数据库(电子期刊)》;20081015(第10期);正文第24-25页 * |
Also Published As
Publication number | Publication date |
---|---|
CN103085054A (zh) | 2013-05-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN103085054B (zh) | 带电抢修机器人主从式液压力反馈机械臂控制系统及方法 | |
CN203077287U (zh) | 带电抢修机器人主从式液压力反馈机械臂控制系统 | |
CN102615638B (zh) | 高压带电作业机器人主从式液压机械臂系统 | |
CN104571124B (zh) | 一种用于水下航行器三自由度姿态模拟装置 | |
CN102615646B (zh) | 主从式液压机械臂控制器 | |
CN203366073U (zh) | 一种带电作业双臂机器人运动控制系统 | |
CN201903440U (zh) | 一种高速风洞攻角控制系统 | |
CN102402201A (zh) | 多轴运动控制系统 | |
CN103056883B (zh) | 一种双机械臂协调控制系统及控制方法 | |
CN108845543A (zh) | 一种四轴冲压上料机器人电气控制系统 | |
CN105171746A (zh) | 一种机器人灵巧手的驱动模块及控制方法 | |
CN203250190U (zh) | 工业机器人控制器 | |
CN105467930A (zh) | 一种机器视觉与运动控制器、伺服驱动器集成控制系统 | |
CN103085055B (zh) | 带电抢修机器人位置反馈主手系统 | |
CN202491238U (zh) | 高压带电作业机器人主从式液压机械臂系统 | |
CN111716351A (zh) | 一种导线施工机器人控制系统 | |
CN102183894A (zh) | 旁通式适配器及其航空发动机快速原型控制方法 | |
CN105373080A (zh) | 一种基于软总线的协同数控系统 | |
CN114378796B (zh) | 主从与自主作业一体化的机械臂系统、机器人系统及方法 | |
CN109866227A (zh) | 模组化多关节控制器 | |
CN215006354U (zh) | 一种集成plc、视觉或力反馈的一体化执行机构 | |
CN107253215B (zh) | 一种集成了2d、3d相机和激光器的机器人智能传感模块 | |
CN112591052B (zh) | 一种深海空间站用三总线复杂控制模式电气控制柜 | |
CN105099281A (zh) | 伺服马达驱动器 | |
CN203019366U (zh) | 一种双机械臂协调控制系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: State Grid Corporation of China Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: Electric Power Research Institute of Shandong Electric Power Corporation |
|
CP01 | Change in the name or title of a patent holder | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20130508 Assignee: National Network Intelligent Technology Co., Ltd. Assignor: Electric Power Research Institute of State Grid Shandong Electric Power Company Contract record no.: X2019370000006 Denomination of invention: Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof Granted publication date: 20160203 License type: Exclusive License Record date: 20191014 |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
EC01 | Cancellation of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |