CN106625683A - Reconfigurable man-machine cooperation mechanical arm system based on WIFI - Google Patents
Reconfigurable man-machine cooperation mechanical arm system based on WIFI Download PDFInfo
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- CN106625683A CN106625683A CN201710108986.8A CN201710108986A CN106625683A CN 106625683 A CN106625683 A CN 106625683A CN 201710108986 A CN201710108986 A CN 201710108986A CN 106625683 A CN106625683 A CN 106625683A
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- joint
- mechanical arm
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- wifi
- module
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
Abstract
The invention discloses a reconfigurable man-machine cooperation mechanical arm system based on WIFI. The system comprises joints, a reconfigurable interface and an arm lever, wherein the joint is cooperated with the reconfigurable interface through the rabbet at a drive end of the reconfigurable interface; and the arm lever is cooperated with the reconfigurable interface; the system further comprises a smart terminal, a WIFI communication module, a joint servo controller, a sensor signal acquisition module, a motor driving module and a joint motor; the smart terminal is connected with the joint servo controller through the WIFI communication module; the output end of the joint servo controller is connected with the motor driving module; the output end of the motor driving module is connected with the joint motor; and the output end of the sensor signal acquisition module is connected with the input end of the joint servo controller. By use of the wireless communication, the fast reconstruction of the control system is facilitated; the stable data sending can be realized by taking the WIFI as the wireless communication way in the mechanical arm. The system can be extensively applied to the robot field.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of restructural man-machine collaboration mechanical arm system based on WIFI.
Background technology
Make a general survey of space manipulator current situation both domestic and external, joint as mechanical arm core, generally individually using modularization
Design concept, the mode of hollow cabling realizes machinery, control, electric highly integrated.Further, since On-orbit servicing is appointed
The diversity and complexity of business, promotes the development of reconfigurable manipulator, and traditional mechanical arm is all based on a certain function development,
Cannot change between module and module, can be only done single in-orbit task, relatively costly, the cycle is long, using reconfigurable machine
It is a kind of method of reality that tool arm completes different work by converting configuration.Reconfigurable manipulator is in modular mechanical arm
On the basis of develop, by reconfiguring completing different tasks between module and module.Reconfigurable manipulator
Between each joint, quick reconfiguration can be realized according to actual environment and operation requirement between mechanical arm.Relatively costly, the cycle is long；
And traditional space manipulator inside cable line is various, the interface relationship complexity between each part is difficult to change, and causes space machine
The reliability of tool arm, security and maintainable extreme difference.Another further aspect, carries out mechanical arm and leads to using technologies such as zigbee, bluetooths
Letter control, its bandwidth is low, and transfer rate is slower.
To sum up, therefore the technology is necessary to be improved.
The content of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide one kind can solve Traditional Space mechanical arm function list
First, cannot change between module and module, the radio communication restructural man-machine collaboration of the cable routing of internal numerous and diverse redundancy machinery
Arm.
The technical solution adopted in the present invention is：
The present invention provides a kind of restructural man-machine collaboration mechanical arm system based on WIFI, including joint, restructural interface and arm
Bar, is fixedly connected between the joint and restructural interface by the seam of restructural interface drive end, the armed lever with can again
It is fixedly connected by the seam of restructural interface Partner between structure interface；The system also includes that intelligent terminal, WIFI communicate
Module, joint servo control device, collecting sensor signal module, motor drive module and joint motor, the intelligent terminal leads to
Cross WIFI communication modules to be connected with joint servo control device；The output end of the joint servo control device and the Motor drive mould
Block connects, and the output end of the motor drive module is connected with joint motor；The output end of the collecting sensor signal module
It is connected with the input of the joint servo control device.
As the improvement of the technical scheme, the system also include external memory storage, the joint servo control device it is defeated
Go out end to be connected with the input of external memory storage.
As the improvement of the technical scheme, the system also include power module, the output end of the power module with it is outer
The input connection of portion's memory.
Used as the improvement of the technical scheme, the collecting sensor signal module includes that current sample, code device signal are adopted
Sample.
Further, the collecting sensor signal module also includes six-dimension force sensor, joint moment sensor, temperature
Sensor.
Further, the joint servo control device adopts ARM as processor.
Further, the intelligent terminal includes PC.
Further, the mechanical arm does Shared control by the six-dimension force sensor and joint moment sensor.
The invention has the beneficial effects as follows：The restructural man-machine collaboration mechanical arm system based on WIFI that the present invention is provided, its
By the reconstruct between mechanical arm module and the application of radio communication, so as to enrich the function of mechanical arm and the letter of placement-and-routing
It is clean.Different work are completed by converting configuration using reconfigurable mechanical arm；The present invention adopts radio communication, is conducive to control
The quick reconfiguration of system processed, by the way of WIFI is as radio communication in mechanical arm, it is possible to achieve the transmission of data stabilization.Make
Requirement can be met with WIFI output images and data rate, the security mechanism of WIFI can obtain very high by being transformed
Level of security；And using the rapid replacing interface of restructural space manipulator, for realizing the quick-replaceable between module, for recombinating
Configuration.The restructural interface of mechanical arm can not only realize the mechanical connection between module, by the boat at restructural interface center
Blind plug, the electrical connection being capable of achieving between module.
Description of the drawings
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the mechanical arm wireless control system of the first embodiment of the radio communication restructural man-machine collaboration mechanical arm of the present invention
Schematic diagram；
Fig. 2 is the mechanical arm structural representation of the second embodiment of the radio communication restructural man-machine collaboration mechanical arm of the present invention；
Fig. 3 is the joint control schematic diagram of the 3rd embodiment of the radio communication restructural man-machine collaboration mechanical arm of the present invention；
Fig. 4 is the control software flow chart of the fourth embodiment of the joint of mechanical arm of the present invention；
Fig. 5 is the rigid arm controller system block diagram of the fifth embodiment of the present invention；
Fig. 6 is the mechanical arm wireless control system schematic diagram of the sixth embodiment of the present invention；
Fig. 7 is the motor control schematic diagram of the seventh embodiment of the present invention.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.
The present invention provides a kind of restructural man-machine collaboration mechanical arm system based on WIFI, including joint, restructural interface
And armed lever, be fixedly connected by the seam of restructural interface drive end between the joint and restructural interface, the armed lever with
It is fixedly connected by the seam of restructural interface Partner between restructural interface；The system also includes intelligent terminal, WIFI
Communication module, joint servo control device, collecting sensor signal module, motor drive module and joint motor, the intelligence is eventually
End is connected by WIFI communication modules with joint servo control device；The output end of the joint servo control device is driven with the motor
Dynamic model block connects, and the output end of the motor drive module is connected with joint motor；The collecting sensor signal module it is defeated
Go out end to be connected with the input of the joint servo control device.
As the improvement of the technical scheme, the system also include external memory storage, the joint servo control device it is defeated
Go out end to be connected with the input of external memory storage.
As the improvement of the technical scheme, the system also include power module, the output end of the power module with it is outer
The input connection of portion's memory.
Used as the improvement of the technical scheme, the collecting sensor signal module includes that current sample, code device signal are adopted
Sample.
Further, the collecting sensor signal module also includes six-dimension force sensor, joint moment sensor, temperature
Sensor.
Further, the joint servo control device adopts ARM as processor.
Further, the intelligent terminal includes PC.
Further, the mechanical arm does Shared control by the six-dimension force sensor and joint moment sensor.
It is the mechanical arm controlled in wireless system of the radio communication restructural man-machine collaboration mechanical arm of the present invention with reference to Fig. 1, Fig. 3
System schematic diagram.A kind of restructural man-machine collaboration mechanical arm system based on WIFI, the system includes that central controller, WIFI lead to
Letter module, joint servo control device, collecting sensor signal module, motor drive module and joint motor, central authorities' control
Device is connected by WIFI communication modules with joint servo control device；The output end of the joint servo control device is driven with the motor
Dynamic model block connects, and the output end of the motor drive module is connected with joint motor；The collecting sensor signal module it is defeated
Go out end to be connected with the input of the joint servo control device.The system also includes external memory storage, the joint servo control
The output end of device processed is connected with the input of external memory storage.The system also include power module, the power module it is defeated
Go out end to be connected with the input of external memory storage.The collecting sensor signal module includes that current sample, code device signal are adopted
Sample.The collecting sensor signal module also includes six-dimension force sensor, joint moment sensor, temperature sensor.The pass
Section servo controller is using ARM as processor.
Upper strata is central controller, and lower floor is joint servo control device.Joint control system is integrated in intra articular, is based on
The motor vector controller of ARM3 exploitations, for controlling position, speed and the torque in each joint.Mechanical arm central controller
ARM3 exploitations are also based on, comprising mechanical arm trajectory planning algorithm, Track Pick-up etc., terminal position and attitude transducer is received
The position of transmission and attitude data, constantly carry out joint angles clearing, and the position command for being converted into response is sent to joint and watches
Take controller.Mechanical arm does Shared control by end six-dimension force sensor and joint moment sensor.WIFI on PC machines
Debugging interface is used for and the communication of joint servo control device.Electrical system includes sample circuit, power-supply system etc..Power-supply system is by base
The 28V voltage conversions that seat is provided are joint, the different rated voltage of latter end instrument needs.Collecting sensor signal circuit bag
Current sample, code device signal sampling etc. are included, for gathering sensing data.Joint of mechanical arm location of controls ring is closed using three
Ring control, using joint end encoder as position ring feedback signal.Control panel is dimensioned for joint mechanical dimension, by spiral shell
Post is fixed on intra articular, realizes monarthric highly integrated.WIFI is adopted between central controller and joint servo control device
Communicated.
Joint servo control device drives joint according to the control instruction on upper strata.These control instructions mainly have position, speed,
Torque and brake signal.Motor adopts closed-loop vector controlled, and joint cascades a torque ring on the basis of three close-loop control.
Joint servo control device, as processor, is communicated with PC using ARM by WiFi.WIFI chips
Interface with ARM is SDIO interfaces, and PC has the editable Debugging interface of WIFI, can send control instruction to ARM.
Position of the restructural rapid replacing interface of mechanical arm according to sleeve on interface is different, restructural interface two kinds of shapes of correspondence
State, respectively self-locking state and released state.Under self-locking state, drive end and Partner are locked by steel ball, bear axial force,
Peripheral force is born in the cooperation of key, realizes reliable connection；In the unlocked state, Partner can be extracted from drive end, realize separating.
The aviation plug of active interface and passive interface is linked together by the spring of pretension, realizes that reliable electric energy and signal are passed
Pass.
Electrical system includes sample circuit, power-supply system etc..The 28V voltage conversions that power-supply system provides pedestal are pass
The different rated voltage that section, latter end instrument need.Collecting sensor signal circuit includes that current sample, code device signal are sampled
Deng for gathering sensing data.Joint of mechanical arm location of controls ring adopts Three-loop control, is made using joint end encoder
For the feedback signal of position ring.Control panel is dimensioned for joint mechanical dimension, and by stud intra articular is fixed on, and realizes single closing
That what is saved is highly integrated.Communicated using WIFI between central controller and joint servo control device.
Radio communication restructural man-machine collaboration mechanical arm includes：Joint 1, restructural interface 2, armed lever 3.Joint 1 with can
Coordinated by the seam of restructural interface drive end between reconstructization interface 2, and by screw-driving.Armed lever 3 and restructural
Coordinated by the seam of restructural interface Partner between interface 2, and by screw-driving.Equipped with boat in restructural interface 2
Blind plug, completes electrical connection while completing and being mechanically connected.
By the way of WIFI is as radio communication in mechanical arm, joint control plate is used described wireless penetration communication mode
WIFI8686 wireless communication modules are communicated with host computer, the module transfer agreement be 802.11b/g, chip, support SPI and
SDIO communicates, and during using SDIO, message transmission rate reaches 54Mbps.The upper strata of restructural space manipulator and lower floor's controller
Between adopt wireless communication transmissions data, positional information, current information etc., the mechanical arm field of vision of the collection of joint servo control device
The pictorial information of collection is by wireless communication transmissions in central controller.Central controller monitors the operation shape of mechanical arm
State, is instructed by estimating that planning procedure sends to servo controller.
A kind of rapid replacing interface of described restructural space manipulator, including aviation plug, cup head soket head cap screw, master
Follower link, shaft block ring, abutment sleeve, plane scroll spring, by follower link, steel ball, cup head soket head cap screw, stretching
Spring and aviation socket are constituted.The rapid replacing interface of the reconfigurable manipulator, using steel ball lock scheme, axial direction pulling force and
Pressure is born by steel ball.Moment of torsion is born by the key in connecting rod.By the turned position of control sleeve, restructural interface correspondence
Two states, respectively self-locking state and released state.Under self-locking state, drive end and Partner are locked by steel ball, are realized
Reliable connection；In the unlocked state, Partner can be extracted from drive end, realize separating.
Described modularized design is that the joint of mechanical arm carried out into modularization, joint be by motion block part, quiet block part,
Driver part is constituted, and it has been internally integrated abundant sensor, incremental encoder, the position ring control for having motor vector controlled
Absolute type encoder, the current sensor of Torque Control.Position ring is used to realize the position control in joint, given joint position
Instruction, joint will reach specified location.Joint is by the way of hollow DC brushless motor series connection harmonic speed reducer as master
Drive and running part, motor drives rotating shaft input Jing harmonic speed reducer Jing motion block parts to be exported, joint and restructural
Change and coordinated by the seam of restructural interface drive end between interface, and by screw-driving.
Described mechanical arm has 7 frees degree, and two ends are respectively joint perpendicular to each other, can fold along ancon, middle
Three joints are parallel, and shoulder is configured using roll-yaw-pitch, and ancon is pitch axles, and wrist adopts Pitch-Yaw-Roll
Configuration.
Described reconstruct is the reconstruct between joint and armed lever, in addition the reconstruct can be also used between joint and joint with
And the reconstruct between armed lever and armed lever.
Joint servo control device drives joint according to the control instruction on upper strata.These control instructions mainly have position, speed,
Torque and brake signal.Motor adopts closed-loop vector controlled, and joint cascades a torque ring on the basis of three close-loop control.Close
Section servo controller ARM is communicated with PC as processor by WiFi.The interface of WIFI chips and ARM
For SDIO interfaces, PC has the editable Debugging interface of WIFI, can send control instruction to ARM.Using PC
WIFI Debugging interfaces, are sent to joint servo control device by WIFI and are instructed.By configuring HTML files, can develop
The simple interface of joint debugging.WIFI is man-machine to be selected including WIFI parameter configurations, joint, and joint different mode is selected and referred to
The status bars such as controller reset are assigned in order.Corresponding pulse number instruction is input under mode position, clicking on transmission will be by number
According to corresponding joint control is passed to, joint control controlled motor makes corresponding sports.By facilitating with upper computer software
Debugging to joint of mechanical arm.
It is the mechanical arm knot of the second embodiment of the radio communication restructural man-machine collaboration mechanical arm of the present invention with reference to Fig. 2
Structure schematic diagram.A kind of restructural man-machine collaboration mechanical arm system based on WIFI, including joint 1, restructural interface 2 and armed lever 3,
Coordinated by the seam of restructural interface drive end between the joint 1 and restructural interface 2, and by screw-driving.It is described
Coordinated by the seam of restructural interface Partner between armed lever 3 and restructural interface 2, and by screw-driving.Restructural
Aviation plug is housed in interface 2, electrical connection is completed while completing and being mechanically connected, locked using steel ball inside it, axle
To pulling force and pressure born by steel ball.
The mechanical arm has 7 frees degree, and two ends are respectively joint perpendicular to each other, can fold along ancon, and middle three
Individual joint is parallel to each other, and shoulder adopts roll-yaw-pitch（Roll-driftage-pitching）Configuration, ancon be pitch axles, wrist
Using Pitch-Yaw-Roll（Pitching-driftage-roll）Configuration.The scattered joint pairwise orthogonal of this programme shoulder, ancon, Ke Yishi
The comprehensive independent control without mechanical arm attitude under unusual motion and straighforward operation of existing mechanical arm；Mutually put down in middle three joints
OK, there are analytic solutions in kinematics.
It is the control software flow chart of the fourth embodiment of the joint of mechanical arm of the present invention with reference to Fig. 4.Can according to wireless penetration
The control requirement in reconstruct joint and control method, devise the control software general frame in joint.Before into principal function, first
Used serial ports, IO, interruption, AD etc. are carried out into initialization operation, then waiting timer interrupts；In interruption subroutine
Read the position of encoder, encoder to count to reset, read torque signals, torque ring PID calculating, reading position signal, position
Put ring PID calculating, rate signal sampling, speed ring PID is calculated, current signal is sampled, electric current loop PID is calculated.Now
Judge whether to detect 3 Z phase pulses, if counter no count is to 3, perform Hall commutation program, carry out square wave
Control；If counter is more than 3, start to perform SVPWM programs, carry out vector controlled.Square wave is controlled and vector controlled
Produce PWM ripple controlling switch pipes break-make and drive articulation.Wherein, speed ring and electric current loop use input end of motor increment type
Encoder and current sample AD realize that position ring and torque ring use joint output end absolute value encoder and torque sensor
Realize.
It is the rigid arm controller system block diagram of the fifth embodiment of the present invention with reference to Fig. 5.Rigid arm control system be by
Central controller and bottom servo controller are constituted, and central controller is with bottom servomechanism by WiFi communication, central controller
Using PC or STM32ZET6, trajectory planning, Shared control, the calculating of Interference angle momentum of rigid arm etc. have been internally integrated it and have calculated
Method.Bottom controller includes joint servo control device, end-of-arm tooling controller, chiral phosphines processor etc., and they pass through aviation
Plug carries out power supply connection.
It is the mechanical arm wireless control system schematic diagram of the sixth embodiment of the present invention with reference to Fig. 6.Multiple mechanical arm collaborations
During operation, each mechanical arm can at any time add WiFi network, and D-H parameters of mechanical arm are sent into tuning controller,
Asked by sending to tuning controller, tuning controller receives request, responds.On the other hand, multi-arm collaborative controller
Redundancy backup design, main part and backup is adopted to use identical circuit, main part CPU- micro-controls with single armed central controller
Device A processed and backup CPU- microcontroller B have the minimum system of oneself, share a piece of two-port RAM, main part CPU- microcontrollers
A in running, by controller run critical data and running state information be stored in two-port RAM, when system it is secondary
Cut out module check to be out of order to main part CPU- microcontroller A, when so as to allow backup CPU- microcontrollers B to start, backup
CPU- microcontrollers B will first read the system core information stored in two-port RAM, and then the state of system is continued to run with, and is protected
Demonstrate,prove the normal work of whole multi-arm switch board system.
It is the motor control schematic diagram of the seventh embodiment of the present invention with reference to Fig. 7.Rotor initial alignment method：Electricity
Machine is initially started using square wave, detects encoder Z phase pulses.When pulse signal is detected, rotor angle assigns initial value：θ=0°.
Vector controlled is switched to, whether observation motor rotates.If motor is not rotated, θ is allowed uniformly to increase angle [alpha].When motor starts
During rotation, the corresponding speed V θ of current rotor angle, θ and next speed V are exported（θ+α）.Judge V θ< V（θ+α）, if
Set up, if condition is set up, will continue to increase angle.As V θ< V（θ+α）When, judge | V θ-V（θ+α）| whether less than assigned error
ε, if condition is false, by dichotomy the value of θ is further reduced, until condition is set up.Angle, θ now is rotor
Initial angle.
The operation principle of radio communication restructural man-machine collaboration mechanical arm that the present invention is provided is：The restructural of mechanical arm with
Modularization is inseparable, and restructural first has to modularization, and restructural interface is designed on this basis to realize the reconstruct of mechanical arm.
Joint is the nucleus module of mechanical arm, is the highly integrated driving of mechanical system, control system and electrical system and gear unit.
Driven and running part as main by the way of hollow DC brushless motor series connection harmonic speed reducer；Absolute value encoder is used
Detect in the position in joint, intra articular also includes torque sensor, for the Shared control in joint；Brake, for joint
Brake hard.
Control requirement and control method according to wireless penetration restructural joint, devises the control software totality frame in joint
Structure.Before into principal function, first used serial ports, IO, interruption, AD etc. are carried out into initialization operation.Then it is etc. undetermined
When device interrupt.Read the position of encoder, encoder to count in interruption subroutine to reset, read torque signals, torque ring
PID calculating, reading position signal, position ring PID are calculated, rate signal is sampled, speed ring PID is calculated, current signal is adopted
Sample, electric current loop PID are calculated.Now judge whether to detect 3 Z phase pulses, if counter no count is held to 3
Row Hall commutation program, carries out square wave control；If counter is more than 3, start to perform SVPWM programs, carry out vector
Control.Square wave is controlled and vector controlled produces PWM ripple controlling switch pipes break-make and drives articulation.Wherein, speed ring and electricity
Stream ring realizes that position ring and torque ring use joint output end using input end of motor incremental encoder and current sample AD
Absolute value encoder and torque sensor are realized.
During multiple mechanical arm cooperatings, each mechanical arm can at any time add WiFi network, and by the D of mechanical arm-
H parameters are sent to tuning controller.Asked by sending to tuning controller, tuning controller receives request, responds.I.e.
Plug-and-play technology, is conducive to mechanical arm quickly to come into operation the coordinated manipulation and many mechanical arms between.
Multi-arm collaborative controller and single armed central controller adopt redundancy backup design, main part and backup to use phase
Same circuit, main part CPU- microcontrollers A and backup CPU- microcontroller B have the minimum system of oneself, share a piece of both-end
In running, the critical data that controller is run and running state information are stored for mouth RAM, main part CPU- microcontroller A
In two-port RAM, when system arbitrament module check is out of order to main part CPU- microcontroller A, so as to allow CPU- micro-controls are backed up
When device B processed starts, backing up CPU- microcontrollers B will first read the system core information stored in two-port RAM, then be
The state of system is continued to run with, it is ensured that the normal work of whole multi-arm switch board system.
The restructural man-machine collaboration mechanical arm system based on WIFI that the present invention is provided, it passes through between mechanical arm module
Reconstruct and radio communication application, so as to enrich mechanical arm function and placement-and-routing it is succinct.Using reconfigurable machinery
Arm completes different work by converting configuration；The present invention adopts radio communication, is conducive to the quick reconfiguration of control system, adopts
With WIFI as radio communication in mechanical arm mode, it is possible to achieve the transmission of data stabilization.Using WIFI output image sums
Requirement can be met according to speed, the security mechanism of WIFI can obtain very high level of security by being transformed；And employing can
The rapid replacing interface of reconstruction attractor mechanical arm, for realizing the quick-replaceable between module, for configuration of recombinating.Mechanical arm again
Structure interface can not only realize the mechanical connection between module, by the aviation plug at restructural interface center, be capable of achieving module
Between electrical connection.
It is more than that the preferable enforcement to the present invention is illustrated, but the invention is not limited to the enforcement
Example, those of ordinary skill in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, the deformation or replacement of these equivalents are all contained in the application claim limited range.
Claims (8)
1. a kind of restructural man-machine collaboration mechanical arm system based on WIFI, it is characterised in that including joint, restructural interface and
Armed lever, is fixedly connected between the joint and restructural interface by the seam of restructural interface drive end, the armed lever with can
It is fixedly connected by the seam of restructural interface Partner between reconstruct interface；The system also includes that intelligent terminal, WIFI lead to
Letter module, joint servo control device, collecting sensor signal module, motor drive module and joint motor, the intelligent terminal
It is connected with joint servo control device by WIFI communication modules；The output end of the joint servo control device and the Motor drive
Module connects, and the output end of the motor drive module is connected with joint motor；The output of the collecting sensor signal module
End is connected with the input of the joint servo control device.
2. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 1, it is characterised in that：The system
System also includes external memory storage, and the output end of joint servo control device is connected with the input of external memory storage.
3. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 1 and 2, it is characterised in that：Institute
Stating system also includes power module, and the output end of the power module is connected with the input of external memory storage.
4. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 3, it is characterised in that：The biography
Sensor signal acquisition module includes that current sample, code device signal are sampled.
5. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 4, it is characterised in that：The biography
Sensor signal acquisition module also includes six-dimension force sensor, joint moment sensor, temperature sensor.
6. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 5, it is characterised in that：The pass
Section servo controller is using ARM as processor.
7. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 6, it is characterised in that：The intelligence
Energy terminal includes PC.
8. the restructural man-machine collaboration mechanical arm system based on WIFI according to claim 7, it is characterised in that：The machine
Tool arm does Shared control by the six-dimension force sensor and joint moment sensor.
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| CN107367993A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Data acquisition device system for sixdegree-of-freedom simulation teaching |
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| CN108673486A (en) * | 2018-05-05 | 2018-10-19 | 深圳市越疆科技有限公司 | modular articulated robot, control method and storage medium |
| CN108762183A (en) * | 2018-05-05 | 2018-11-06 | 深圳市越疆科技有限公司 | Chip type controls integral structure |
| CN109108954A (en) * | 2017-06-22 | 2019-01-01 | 深圳市肯綮科技有限公司 | A kind of the Torque Control system and its Torque Control method of power joint arrangement |
| CN109262614A (en) * | 2018-10-12 | 2019-01-25 | 清华大学深圳研究生院 | A kind of joint of robot mould group kinetic control system and its method |
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| CN107471206A (en) * | 2017-08-16 | 2017-12-15 | 大连交通大学 | A kind of modularization industrial robot reconfiguration system and its control method |
| CN107260314A (en) * | 2017-08-17 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | Device, system in operating robot and operating robot |
| CN108247632A (en) * | 2017-12-28 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of cooperation robot control system based on ROS |
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