CN107662210A - A kind of resistance to irradiation dynamic power machine hand control system - Google Patents
A kind of resistance to irradiation dynamic power machine hand control system Download PDFInfo
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- CN107662210A CN107662210A CN201710865307.1A CN201710865307A CN107662210A CN 107662210 A CN107662210 A CN 107662210A CN 201710865307 A CN201710865307 A CN 201710865307A CN 107662210 A CN107662210 A CN 107662210A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of resistance to irradiation dynamic power machine hand control system, including central controller and sub-control system, sub-control system includes driving kinetic control system, manipulator motion control system, instrument and changed the outfit control system and remote operating control system；Central control system is connected with sub-control system communication；Driving kinetic control system includes thermoacoustic prime engine device, servo-drive system and sensing system；Manipulator motion control system includes mechanical arm controller, teaching machine and mechanical arm servo-drive system；The instrument control system that changes the outfit changes the outfit controller, industrial camera and fast replacing device including instrument；Remote operating control system includes remote operating controller, main hand sensor and depth camera, and resistance to irradiation dynamic power machine hand control is effectively realized using the control model of " centralized management, decentralised control ".
Description
Technical field
The present invention relates to control technology field, and in particular to a kind of control system for resistance to irradiation dynamic power machine hand.
Background technology
Resistance to irradiation dynamic power machine hand be that core is retired and Radwastes treatment during nucleus equipment.China is that nuclear power is big
State, along with the propulsion of development and the elimination of nuclear facilities of nuclear power, China increasingly increases the demand of resistance to irradiation dynamic power machine hand.Mesh
The dynamic power machine of the resistance to irradiation hand that the preceding country uses is external import product.
The motion control of existing dynamic power machine hand uses position open loop control mode, quickly can not accurately control end-of-arm tooling
Reach specified pose；The multi-joint mechanical arm of front end uses single shaft point operation control mode, can not realize multi-shaft interlocked control；Using
Topography indirect labor completes instrument and changed the outfit, and the efficiency that changes the outfit is low；Tool tip is powerless and distance sensing devices, causes to operate
Personnel's telepresenc is relatively low, reduces operating efficiency.In summary, the control system automation journey of existing resistance to irradiation dynamic power machine hand
Spend relatively low so that the remote operation of existing dynamic power machine hand is less efficient.
The content of the invention
The present invention asks for existing resistance to irradiation dynamic power machine hand system automaticity is relatively low, remote job is less efficient etc.
Topic, driving running precision is improved using servo control technology, mechanical arm control is improved using multi-joint coordinated signals technology
Efficiency, using machine vision technique improve instrument change the outfit efficiency, using end power sensing and main hand-power feedback technique improve operation
Telepresenc, so as in improving, the remote job efficiency in low dose radiation environment.
The purpose of the present invention is achieved through the following technical solutions：
A kind of control system for resistance to irradiation dynamic power machine hand, it is characterised in that：Including central controller and sub-control system,
Sub-control system includes driving kinetic control system, manipulator motion control system, instrument change the outfit control system and remote operating control
System processed；Central control system is connected with sub-control system communication；Kinetic control system of driving a vehicle includes thermoacoustic prime engine device, servo system
System and sensing system；Manipulator motion control system includes mechanical arm controller, teaching machine and mechanical arm servo-drive system；Instrument
The control system that changes the outfit changes the outfit controller, industrial camera and fast replacing device including instrument；Remote operating control system includes remote operating control
Device, main hand sensor and depth camera processed.
It is to realize that communication is connected by EtherCAT EPAs between the central control system and sub-control system
's.
The driving kinetic control system, driving movement controller enter row information by data communication bus and servo-drive system and handed over
Mutually, the information of sensing system is gathered by numeral and/or analog module, realizes and manipulator traffic space position is accurately controlled
System.
The manipulator motion control system, including global context monitoring camera, end monitoring camera, with teaching
The central controller of device and front end carry the mechanical arm of main hand；Main hand has device for force feedback, and main hand passes through with central controller
Ethernet data communicates, and global context monitoring camera and end monitoring camera realize data interaction by Ethernet, and will
The video data of collection shows that mechanical arm passes through ICP/IP protocol and central controller data on the teaching machine of central controller
It is connected；Mechanical arm controller is connected by communication by the mechanical arm servo-drive system of data communication bus and manipulator, total by teaching
Line is communicated with teaching machine, realizes mechanical arm simple joint crawl and multi-joint coordinated signals；Operator can pass through teaching machine pair
Mechanical arm is programmed control.
The instrument changes the outfit control system, and the instrument controller that changes the outfit passes through the target figure on industrial camera sampling instrument shelf
As information, the position and attitude error between instrument stamper and public disk is obtained by image procossing, and using this error as input value, pass through
Cross control algolithm and mechanical arm tail end object pose is calculated, and then above-mentioned target is reached by central controller controls mechanical arm
Pose, implementation tool centering and approach control.
The industrial camera includes the face battle array industrial camera and lighting source for being installed on mechanical arm tail end.
The remote operating control system, remote operating controller are connected by communication by the main hand of remote operating bus and manipulator,
Main hand sensor information is gathered by communication bus, and passes through the image and depth information of network sampling depth camera.
The depth camera includes being arranged on global context monitoring camera and the setting at the top in robot movement space
In the end monitoring camera of mechanical arm wrist joint.
Beneficial effects of the present invention are as follows：
First, a kind of control system for resistance to irradiation dynamic power machine hand provided by the invention, is carried using servo control technology
The Pose Control precision of height driving running precision and dynamic power machine hand, mechanical arm control is improved using multi-joint coordinated signals technology
Efficiency, instrument is improved using machine vision technique and changed the outfit efficiency, operation is improved using end power sensing and main hand-power feedback technique
Telepresenc, the telepresenc of dynamic power machine hand operating personnel is enhanced using remote operating control system so as in improving, low dosage spoke
The remote job efficiency penetrated in environment.
2nd, a kind of control system for resistance to irradiation dynamic power machine hand provided by the invention, EtherCAT EPAs
The stable autgmentability of communication is strong, supports that EtherCAT equipment scope is wider, facilitates system to extend.
3rd, a kind of control system for resistance to irradiation dynamic power machine hand provided by the invention, the aobvious in real time of screen can be passed through
Show and mechanical arm is operated, the main hand that central controller detects to global context monitoring camera and end monitoring camera
The pose data conversion of mechanical arm living, which calculates, realizes that the conversion of detecting system data and main hand, mechanical arm actual location data ensures
Control accuracy, mechanical arm operating state screen is also presented in operator at the moment, realizes the environment of the first visual angle operation, simultaneously
Master is additionally provided with device for force feedback on hand, feeds back force data to operator in real time, strengthens operation sense, makes operator on the spot in person,
More preferable operation, also make it that certain operations person is more convenient from the operation in the Special use environment that directly contacts to mechanical arm；
The flexible of main hand button control machinery wrist joint is added, extends motion of the main hand of multiple degrees of freedom in nuclear industry field
Mode, advance application of the industrial machinery arm in nuclear industry field.
Brief description of the drawings
Fig. 1 is a kind of system general diagram of preferred scheme of the present invention；
Fig. 2 is a kind of driving kinetic control system block diagram of preferred scheme of the present invention；
Fig. 3 is a kind of manipulator motion control system block diagram of preferred scheme of the present invention；
Fig. 4 is a kind of multi-joint coordinated signals flow chart of preferred scheme of the present invention；
Fig. 5 is a kind of mechanical arm structure chart of preferred scheme of the present invention；
Fig. 6 is that a kind of instrument of preferred scheme of the present invention changes the outfit control flow chart.
Embodiment
Further illustrated below by way of several specific embodiments to realize the technical scheme of the object of the invention, it is necessary to illustrate
, claimed technical solution of the invention includes but is not limited to following examples.
Embodiment 1
Such as Fig. 1 to Fig. 6, a kind of control system for resistance to irradiation dynamic power machine hand, including central controller and sub-control system,
Sub-control system includes driving kinetic control system, manipulator motion control system, instrument change the outfit control system and remote operating control
System processed；Central control system is connected with sub-control system communication；Kinetic control system of driving a vehicle includes thermoacoustic prime engine device, servo system
System and sensing system；Manipulator motion control system includes mechanical arm controller, teaching machine and mechanical arm servo-drive system；Instrument
The control system that changes the outfit changes the outfit controller, industrial camera and fast replacing device including instrument；Remote operating control system includes remote operating control
Device, main hand sensor and depth camera processed.
This is a kind of most basic embodiment of the present invention.Using servo control technology improve driving running precision and
The Pose Control precision of dynamic power machine hand, mechanical arm control efficiency is improved using multi-joint coordinated signals technology, regarded using machine
Feel technology improves instrument and changed the outfit efficiency, operation telepresenc is improved using end power sensing and main hand-power feedback technique, using distant behaviour
Action control system enhance the telepresenc of dynamic power machine hand operating personnel so as in improving, the long-range work in low dose radiation environment
Industry efficiency.
Embodiment 2
Such as Fig. 1 to Fig. 6, a kind of control system for resistance to irradiation dynamic power machine hand, including central controller and sub-control system,
Sub-control system includes driving kinetic control system, manipulator motion control system, instrument change the outfit control system and remote operating control
System processed；Central control system is connected with sub-control system communication；Kinetic control system of driving a vehicle includes thermoacoustic prime engine device, servo system
System and sensing system；Manipulator motion control system includes mechanical arm controller, teaching machine and mechanical arm servo-drive system；Instrument
The control system that changes the outfit changes the outfit controller, industrial camera and fast replacing device including instrument；Remote operating control system includes remote operating control
Device, main hand sensor and depth camera processed；It is by EtherCAT industry between the central control system and sub-control system
Ethernet realizes what communication was connected；The driving kinetic control system, driving movement controller pass through data communication bus and servo
System carries out information exchange, and the information of sensing system is gathered by numeral and/or analog module, realizes sky of being driven a vehicle to manipulator
Between position accurately control；The manipulator motion control system, including global context monitoring camera, end monitoring camera,
Central controller and front end with teaching machine carry the mechanical arm of main hand；Main hand has device for force feedback, and main hand is controlled with center
Device processed is communicated by Ethernet data, and global context monitoring camera and end monitoring camera realize that data are handed over by Ethernet
Mutually, and by the video data of collection shown on the teaching machine of central controller, mechanical arm is controlled by ICP/IP protocol and center
Device data processed are connected；Mechanical arm controller is connected by communication by the mechanical arm servo-drive system of data communication bus and manipulator, is led to
Cross teaching bus to be communicated with teaching machine, realize mechanical arm simple joint crawl and multi-joint coordinated signals；Operator can pass through
Teaching machine is programmed control to mechanical arm.；Operator can be programmed control to mechanical arm by teaching machine；The instrument changes
Control system is filled, instrument changes the outfit controller by the target image information on industrial camera sampling instrument shelf, at image
The position and attitude error between acquisition instrument stamper and public disk is managed, and using this error as input value, is calculated by control algolithm
Above-mentioned object pose, implementation tool pair are reached to mechanical arm tail end object pose, and then by central controller controls mechanical arm
In and approach control；The industrial camera includes the face battle array industrial camera and lighting source for being installed on mechanical arm tail end；It is described distant
Operation control system, remote operating controller are connected by communication by the main hand of remote operating bus and manipulator, adopted by communication bus
Collect main hand sensor information, and pass through the image and depth information of network sampling depth camera；The depth camera includes setting
Global context monitoring camera at the top in robot movement space is taken the photograph with the end monitoring for being arranged on mechanical arm wrist joint
As head.
This is a kind of preferred embodiment of the present invention.Driving running precision is improved using servo control technology and moved
The Pose Control precision of power manipulator, mechanical arm control efficiency is improved using multi-joint coordinated signals technology, using machine vision
Technology improves instrument and changed the outfit efficiency, operation telepresenc is improved using end power sensing and main hand-power feedback technique, using remote operating
Control system enhance the telepresenc of dynamic power machine hand operating personnel so as in improving, the remote job in low dose radiation environment
Efficiency；The stable autgmentability of EtherCAT EPAs communication is strong, supports that EtherCAT equipment scope is wider, facilitates system to expand
Exhibition；Mechanical arm can be operated by the real-time display of screen, central controller is to global context monitoring camera and end
The pose data conversion for the main hand work mechanical arm that monitoring camera detects, which calculates, realizes detecting system data and main hand, mechanical arm
The conversion of actual location data ensures control accuracy, and mechanical arm operating state screen also is presented in into operator at the moment, realizes
The environment of first visual angle operation, while master is additionally provided with device for force feedback on hand, feeds back force data, enhancing behaviour to operator in real time
Work is felt, and makes operator on the spot in person, more preferable operation, also causes certain operations person from right in the Special use environment that directly contacts
The operation of mechanical arm is more convenient；The flexible of main hand button control machinery wrist joint is added, extends multiple degrees of freedom
Main hand advances application of the industrial machinery arm in nuclear industry field in the motion mode in nuclear industry field.
Embodiment 3
Such as Fig. 1 to Fig. 6, a kind of control system for resistance to irradiation dynamic power machine hand, it is characterised in that：Including central controller and
Sub-control system, control system that sub-control system includes driving kinetic control system, manipulator motion control system, instrument change the outfit
With remote operating control system；Central control system is entered row information by EtherCAT EPAs bus and sub-control system and handed over
Mutually；Driving kinetic control system includes thermoacoustic prime engine device, three axle servo-drive systems and sensing system；Manipulator motion control system
Including mechanical arm controller, teaching machine and seven axle servo-drive systems；The instrument control system that changes the outfit changes the outfit controller, industry including instrument
Camera and fast replacing device；Remote operating control system includes remote operating controller, the main hand of six degree of freedom, power/torque sensor and depth
Spend camera；
The present invention is using the control model of " centralized management, decentralised control ", and whole control system is by central controller, driving motion
Control system, manipulator motion control system, instrument change the outfit the system such as control system and remote operating control system composition.
Central control system carries out information exchange by EtherCAT EPAs bus and each sub-control system, is responsible for
Each sub-control system of management and dispatching realizes the functions such as work flow control, operation technique control.Kinetic control system drive a vehicle by controlling
Device, three axle servo-drive systems and sensing system composition processed.
Motion controller of driving a vehicle carries out information exchange by EtherCAT buses and servo-drive system, passes through numeral or simulation mould
Block gathers sensor information, realizes that 3-DOF traffic spaces position accurately controls.
Manipulator motion control system is made up of controller, teaching machine and seven axle servo-drive systems.Manipulator motion controls
Device is communicated by EtherCAT buses with servo-drive system, is communicated by dedicated bus and teaching machine, realizes 7-DOF machines
Tool arm simple joint crawl and multi-joint coordinated signals.Control can be programmed to mechanical arm by teaching machine.
The instrument control system that changes the outfit is made up of controller, industrial camera, fast replacing device etc..The instrument controller that changes the outfit passes through work
Target image information on industry camera sampling instrument shelf, the pose obtained by image procossing between instrument stamper and public disk miss
Difference, and using this error as input, mechanical arm tail end object pose is calculated by control algolithm, and then pass through central controller
Control machinery arm reaches above-mentioned object pose, implementation tool centering and approach control.
Remote operating control system is made up of controller, the main hand of six degree of freedom, power/torque sensor and depth camera.Distant behaviour
Make controller to be communicated by dedicated bus and the main hand of six degree of freedom, power/torque sensor is gathered by EtherCAT buses
Information, image and depth information are gathered by Ethernet.The main hand of six degree of freedom has force feedback function, by the instrument collected by
Force information feeds back to operating personnel, and combines depth information, strengthens the telepresenc of operating personnel, improves operating efficiency.
Embodiment 4
As shown in figure 1, resistance to irradiation dynamic power machine hand control system is transported by central controller, driving kinetic control system, mechanical arm
Autocontrol system, instrument change the outfit the system such as control system and remote operating control system composition.
Central control system is the core cell of dynamic power machine hand control system, using PLC as master controller, is passed through
EtherCAT buses carry out information exchange with each subsystem, are responsible for centralized management and dispatch each sub-control system, realize work flow
The functions such as control, operation technique control, and system logic defencive function is provided.
On the one hand operational order that central controller provides from remote operating control system reception operating personnel, is solved by instruction
The control instruction of driving or mechanical arm is analysed, be transformed to, control instruction is then sent to driving or mechanical arm control system, control
Driving or mechanical arm are moved by the intention of operating personnel.On the other hand, central controller receive instrument change the outfit control system transmission
Mechanical arm tail end object pose instruction, obtain mechanical arm control instruction through parsing, converting, be then sent to mechanical arm control system
System.
As shown in Fig. 2 driving kinetic control system using PLC as main control unit, by EtherCAT buses in a serial fashion
Connect three AC servo drivers, every servo-driver drive respectively cart servomotor motor, dolly servomotor and
Lift servo motor；Each direction of motion of driving a vehicle configures two limit switches, and PLC reads spacing shape by digital input module
State；Driving top is additionally provided with weighing sensor and displacement sensor for pull rope, and PLC reads driving load by analog input module
Weight and retractable barrel elongation.
In order to reduce influence of the ionising radiation to servomotor performance, three servomotors of driving are using rotation transformation
Device is as encoder.In each direction of motion, when driving moves to first limit switch, driving movement velocity reduces；
When moving to second limit switch, driving stops immediately.
Thermoacoustic prime engine device receives the driving target location instruction that central controller is sent, and each axle is obtained by interpolation operation
Target location, target velocity and aimed acceleration, be then sent to three drivers, and then control driving to reach target position
Put.
As shown in figure 3, manipulator motion control system is by motion controller, teaching machine, five AC servo drivers, two
Platform direct current servo driver, five AC servo motors and two DC servo motor compositions, every servo-driver drive respectively
Move a servomotor.Motion controller is communicated by EtherCAT buses and central controller, receives mechanical arm movement instruction；
Motion controller is communicated by dedicated bus and teaching box, can be set mechanical arm basic parameter by teaching box, be carried out coordinate
System's calibration, check mechanical arm running status；Motion controller is communicated by high speed EtherCAT buses and servo-driver, and then
Servomotor motion is controlled, reaches manipulator motion control purpose.
In order to reduce influence of the ionising radiation to servomotor performance, seven servomotors of mechanical arm are become using rotation
Depressor is as encoder.
Mechanical arm control system has two kinds of control modes of simple joint independent control and multi-joint coordinated signals.
Simple joint independent control refers to operating personnel when carrying out remote control to mechanical arm, every time only to mechanical arm one
The motion in joint is controlled.Control to each joint uses increment control algorithm mode, i.e. operating personnel only control the fortune in joint
Dynamic speed and the direction of motion.When operating personnel operate, joint motions are controlled；When not operating, controlled joint stop motion is simultaneously kept
Position.The movement velocity in each joint electrodeless can be adjusted, and movement velocity is directly proportional to operating personnel's manipulation dynamics, makes operating personnel
More intuitively mechanical arm can be manipulated.
Multi-joint coordinated signals refer to that mechanical arm carries out joint motions planning automatically according to the change of terminal position, and voluntarily
Its each joint motions is controlled, and then mechanical arm tail end is reached target location.Multi-joint coordinated signals flow is as shown in figure 4, behaviour
The displacement and attitudes vibration amount of mechanical arm tail end, mechanical arm control system root need to only be given by man-machine interactive system by making personnel
The object pose of mechanical arm tail end is calculated according to the current pose of mechanical arm tail end and pose variable quantity, then calls the inverse fortune of mechanical arm
The target location in each joint of mechanical arm is calculated in dynamic resolving module of learning, then carries out joint space and plan to obtain joint motions rail
Mark, finally control servo drive unit each joint is moved by the track of planning, and then mechanical arm tail end is reached expected pose.
By the difference of reference frame, multi-joint coordinated signals can be subdivided into the motion based on mechanical arm basis coordinates system again
Two kinds of control modes such as control and motion control based on tool coordinates system.It is elected to be selected as the motion control side based on basis coordinates system
During formula, end pose variable quantity that operator is provided by man-machine interactive system is mechanical arm tail end along basis coordinates system OB-
The displacement of XBYBZB XB, YB, ZB axle and the rotationally-varying amount around basis coordinates system XB, YB, ZB axle, operator can directly be controlled
Three axles of the mechanical arm tail end processed along basis coordinates system are moved or rotated around three axles of basis coordinates system.It is elected to be selected as being based on tool coordinates system
Movement control mode when, end pose variable quantity that operator is provided by man-machine interactive system is mechanical arm tail end along instrument
The displacement of coordinate system OT-XTYTZT XT, YT, ZT axle and the rotationally-varying amount around tool coordinates system XT, YT, ZT axle, operation
Member directly three axles of the control machinery arm end along tool coordinates system can move or be rotated around three axles of basis coordinates system.
The instrument system that changes the outfit forms by the stamper on mechanical arm tail end ring flange and installed in the public disk of tool side,
The two needs height alignment, and is moved along public disk, stamper normal direction, can implementation tool disassembly and installation.Instrument changes the outfit control
System processed, by the target image information on industrial camera sampling instrument shelf, is calculated using industrial computer as core by image procossing
Method obtains the position and attitude error between stamper and public disk, and using this error as input, mechanical arm end is calculated by control algolithm
The object pose of ending tool, the object pose is then sent to central controller, and then control machinery arm reaches above-mentioned target
Pose, implementation tool centering control.
After control stamper and the alignment of public disk, control machinery arm end stamper convergence public affairs disk, and in approach procedure constantly
Mechanical arm posture is adjusted, stamper and public disk is kept alignment, until public disk contacts with stamper.When public disk contacts with stamper
Afterwards, fast replacing device release or locking tool, completion instrument is controlled to change the outfit by data signal and analog signal.Instrument changes the outfit control
Flow is as shown in Figure 6.
Using industrial computer as core, the pose provided by the main hand getting collection operating personnel of six degree of freedom refers to remote operating control system
Order, by power/torque sensor sampling instrument by force information, passes through the image information and instrument in depth camera Collecting operation region
The distance between operation workpiece information.
The main hand of six degree of freedom has force feedback function, by the instrument stress feedback of the information collected to operating personnel, and ties
The depth information collected from depth camera is closed, strengthens the telepresenc of operating personnel, improves operating accuracy.
The main hand of six degree of freedom also has gravity compensation function, and when operating personnel do not exert a force to main hand, main hand maintains automatically
Pose when operating personnel leave.
Claims (8)
- A kind of 1. control system for resistance to irradiation dynamic power machine hand, it is characterised in that：It is including central controller and son control System, sub-control system includes driving kinetic control system, manipulator motion control system, instrument change the outfit control system and remote operating Control system；Central control system is connected with sub-control system communication；Kinetic control system of driving a vehicle includes thermoacoustic prime engine device, servo System and sensing system；Manipulator motion control system includes mechanical arm controller, teaching machine and mechanical arm servo-drive system；Work The tool control system that changes the outfit changes the outfit controller, industrial camera and fast replacing device including instrument；Remote operating control system includes remote operating Controller, main hand sensor and depth camera.
- A kind of 2. control system for resistance to irradiation dynamic power machine hand as claimed in claim 1, it is characterised in that：The center Realize that communication is connected by EtherCAT EPAs between control system and sub-control system.
- A kind of 3. control system for resistance to irradiation dynamic power machine hand as claimed in claim 1, it is characterised in that：The driving Kinetic control system, driving movement controller carry out information exchange by data communication bus and servo-drive system, by numeral and/or Analog module gathers the information of sensing system, realizes and manipulator traffic space position is accurately controlled.
- A kind of 4. control system for resistance to irradiation dynamic power machine hand as claimed in claim 1, it is characterised in that：The machinery Arm kinetic control system, including global context monitoring camera, end monitoring camera, the central controller with teaching machine and Front end carries the mechanical arm of main hand；Main hand has device for force feedback, and main hand is communicated with central controller by Ethernet data, entirely Office's environmental monitoring camera and end monitoring camera realize data interaction by Ethernet, and by the video data of collection in Entreat and shown on the teaching machine of controller, mechanical arm is connected by ICP/IP protocol with central controller data；Mechanical arm controller It is connected by communication by the mechanical arm servo-drive system of data communication bus and manipulator, is led to by teaching bus with teaching machine News, realize mechanical arm simple joint crawl and multi-joint coordinated signals；Operator can be programmed control to mechanical arm by teaching machine System.
- A kind of 5. control system for resistance to irradiation dynamic power machine hand as claimed in claim 1, it is characterised in that：The instrument Change the outfit control system, and instrument changes the outfit controller by the target image information on industrial camera sampling instrument shelf, by image The position and attitude error between acquisition instrument stamper and public disk is handled, and using this error as input value, is calculated by control algolithm Mechanical arm tail end object pose is obtained, and then above-mentioned object pose, implementation tool are reached by central controller controls mechanical arm Centering and approach control.
- A kind of 6. control system for resistance to irradiation dynamic power machine hand as claimed in claim 5, it is characterised in that：The industry Camera includes the face battle array industrial camera and lighting source for being installed on mechanical arm tail end.
- A kind of 7. control system for resistance to irradiation dynamic power machine hand as claimed in claim 1, it is characterised in that：The distant behaviour Action control system, remote operating controller are connected by communication by the main hand of remote operating bus and manipulator, gathered by communication bus Main hand sensor information, and pass through the image and depth information of network sampling depth camera.
- A kind of 8. control system for resistance to irradiation dynamic power machine hand as claimed in claim 7, it is characterised in that：The depth Camera includes being arranged on the global context monitoring camera at the top in robot movement space and is arranged on mechanical arm wrist joint End monitoring camera.
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| CN109951114A (en) * | 2019-03-26 | 2019-06-28 | 珠海瑞凌焊接自动化有限公司 | A kind of control system controlling multi-axis servo motor |
| CN111098304A (en) * | 2019-12-30 | 2020-05-05 | 季华实验室 | Secondary robot development method |
| CN111645053A (en) * | 2020-05-15 | 2020-09-11 | 浙江钰茂泽智能装备有限公司 | Control system and method for parallel jade pasting mechanical arm |
| CN113084818A (en) * | 2021-04-19 | 2021-07-09 | 山东建筑大学 | Space manipulator teleoperation control method based on rocker handle |
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| CN111098304A (en) * | 2019-12-30 | 2020-05-05 | 季华实验室 | Secondary robot development method |
| CN111645053A (en) * | 2020-05-15 | 2020-09-11 | 浙江钰茂泽智能装备有限公司 | Control system and method for parallel jade pasting mechanical arm |
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| CN113084818A (en) * | 2021-04-19 | 2021-07-09 | 山东建筑大学 | Space manipulator teleoperation control method based on rocker handle |
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