CN108284425A - A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system - Google Patents
A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system Download PDFInfo
- Publication number
- CN108284425A CN108284425A CN201810319649.8A CN201810319649A CN108284425A CN 108284425 A CN108284425 A CN 108284425A CN 201810319649 A CN201810319649 A CN 201810319649A CN 108284425 A CN108284425 A CN 108284425A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- data
- main manipulator
- degree
- torque
- 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.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention relates to a kind of hot line robot mechanical arm cooperation force feedback master-slave control method and systems.Including manipulator, mechanical arm and industrial personal computer；Mechanical arm tail end is equipped with six degree of freedom power/torque sensor；When main manipulator force-feedback control, industrial personal computer calculates the torque data in each joint of main manipulator according to the stress data of mechanical arm tail end, by the control interface of main manipulator, controls each joint output torque of main manipulator；The scalar of tool arm end stress data is six degree of freedom power/torque data, including two parts：A part comes from the stress data generated when mechanical arm is contacted with environment, this partial data is obtained by six degree of freedom power/torque sensor acquisition of mechanical arm tail end；Another part comes from the stress data for mutually colliding between mechanical arm and generating.The present invention can accurately, efficiently and safely complete livewire work.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot mechanical arm cooperation force feedback principal and subordinate
Control method and system.
Background technology
With the gradual development of hot line robot, the operation of traditional man-computer symbiosis's Insulated Hold formula cannot meet
Control performance under livewire work environment and security requirement.Before this, operating personnel can pass through main manipulator remote control machine
The hot line robot of device people, it is ensured that operating personnel is isolated with high voltage electric field；Remote control operate when, operating personnel according to
Working scene monitoring system monitors operation process, between robotic arm and manipulating object, between mechanical arm, manipulating object and operation
The judgement of relative position between environment is more accurate, and there is no visual dead angle, and performance accuracy higher can prevent collision from sending out
It is raw, improve operational security.But when carrying out pinpoint hot line job using aforementioned hot line robot, example
Isolation switch, fuse switch and arrester both ends conducting wire are such as disconnected, mainly by observing operating environment image (including reality
When image and 3D modeling image) come judge mechanical arm whether operate in place, between mechanical arm and operation object and machinery
The contact forces degree size and unaware of arm and mechanical arm, it is difficult to judge whether performance accuracy meets operation and require.If operation
Personnel or control system can be between sense mechanism arm and operation objects and the contact forces degree of mechanical arm and mechanical arm is big
It is small, then it can more accurately judge whether operations are accurate in place, and can prevent from mutually colliding between mechanical arm.
Since the main hand of force feedback can be achieved at the same time the position control and force feedback of multiple degree of freedom, the main hand of force feedback is answered
Use the demand of hot line robot master ＆ slave control strongly.
Invention content
It is an object of the invention to propose a kind of hot line robot mechanical arm cooperation force feedback master-slave control method and
System, can accurately, efficiently and safely complete livewire work.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of hot line robot mechanical arm cooperation force feedback principal and subordinate
Control method, manipulator, mechanical arm and industrial personal computer form hot line robot force feedback master ＆ slave control system；Mechanical arm tail end
Six degree of freedom power/torque sensor is installed；
When main manipulator force-feedback control, it is each to calculate main manipulator according to the stress data of mechanical arm tail end for industrial personal computer
The torque data in a joint controls each joint output torque of main manipulator by the control interface of main manipulator；
The scalar of tool arm end stress data is six degree of freedom power/torque data, including two parts：A part comes from
The stress data generated when mechanical arm and environment contact, this partial data are passed by six degree of freedom power/torque of mechanical arm tail end
Sensor acquisition obtains；Another part comes from the stress data for mutually colliding between mechanical arm and generating.
Further, main manipulator statics is modeled, obtains mechanical arm tail end six degree of freedom power/torque data to main operation
The transformational relation of each joint torque data of hand, industrial personal computer calculate the torsion in each joint of main manipulator according to the transformational relation
Square data.
Further, come from the stress data for mutually colliding between mechanical arm and generating to be prepared by the following：
Step 1, the end pose for obtaining first mechanical arm and second mechanical arm, is arrived with the basis coordinates system of second mechanical arm
The end pose coordinate of second mechanical arm is transformed into the base of first mechanical arm by the transition matrix of the basis coordinates system of first mechanical arm
In coordinate system；
Step 2, it in the basis coordinates system of first mechanical arm, using the end pose coordinate of first mechanical arm as the centre of sphere, creates
Ball is surrounded, the radius for surrounding ball is collision detection radius；
Step 3, in the basis coordinates system of first mechanical arm, the end pose for detecting above-mentioned encirclement ball and second mechanical arm is sat
Target collides relationship, if not colliding, first mechanical arm end stress data is zero, the first main manipulator end feedback
Power is also zero, if colliding, calculates collision depth vector according to the end pose of first mechanical arm and second mechanical arm, so
After enter step 4；
Step 4, first mechanical arm end stress data is calculated using spring model,
F=-kx
Wherein, k is spring constant, and x is collision depth vector, and F is stress data, and F is six-vector, scalar be six from
By degree power/torque data；
Step 5, the six degree of freedom power of first mechanical arm end step 4 obtained/torque data-conversion obtains the second machine
Six degree of freedom power/torque data of tool arm end.
Further, when mechanical arm Pose Control, industrial personal computer is calculated according to the angle-data of each rotary joint of main manipulator
The desired value of end of arm speed vector is moved by the control interface of mechanical arm according to the desired value control machinery arm；
Obtain end of arm speed vector desired value method be：Main manipulator is modeled with D-H modeling methods, obtains main operation
Transformational relation of the angle-data of each rotary joint of hand to main manipulator end pose data；Industrial personal computer receives main manipulator
The angle-data of each rotary joint sent, is calculated main manipulator end pose data, so according to the transformational relation
Main manipulator end pose data are obtained into main manipulator tip speed data by differentiating afterwards；According to main manipulator end
Pose data and tip speed data, operating speed feedforward PID controller, are calculated the expectation of end of arm speed vector
Value.
Further, the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
The present invention also proposes a kind of hot line robot mechanical arm cooperation force feedback master ＆ slave control system, including operation
Hand, mechanical arm and industrial personal computer；Mechanical arm tail end is equipped with six degree of freedom power/torque sensor；
The main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure；The main manipulator can
The angle-data of each rotary joint is acquired, each rotary joint has torque motor, being capable of output torque；The mechanical arm end
End is equipped with six degree of freedom power/torque sensor, the stress of the six direction generated when being contacted for collection machinery arm and environment
Data；
When main manipulator force-feedback control, it is each to calculate main manipulator according to the stress data of mechanical arm tail end for industrial personal computer
The torque data in a joint controls each joint output torque of main manipulator by the control interface of main manipulator；
The scalar of tool arm end stress data is six degree of freedom power/torque data, including two parts：A part comes from
The stress data generated when mechanical arm and environment contact, this partial data are passed by six degree of freedom power/torque of mechanical arm tail end
Sensor acquisition obtains；Another part comes from the stress data for mutually colliding between mechanical arm and generating.
Further, main manipulator statics is modeled, obtains mechanical arm tail end six degree of freedom power/torque data to main operation
The transformational relation of each joint torque data of hand, industrial personal computer calculate the torsion in each joint of main manipulator according to the transformational relation
Square data.
Further, come from the stress data for mutually colliding between mechanical arm and generating to be prepared by the following：
Step 1, the end pose for obtaining first mechanical arm and second mechanical arm, is arrived with the basis coordinates system of second mechanical arm
The end pose coordinate of second mechanical arm is transformed into the base of first mechanical arm by the transition matrix of the basis coordinates system of first mechanical arm
In coordinate system；
Step 2, it in the basis coordinates system of first mechanical arm, using the end pose coordinate of first mechanical arm as the centre of sphere, creates
Ball is surrounded, the radius for surrounding ball is collision detection radius；
Step 3, in the basis coordinates system of first mechanical arm, the end pose for detecting above-mentioned encirclement ball and second mechanical arm is sat
Target collides relationship, if not colliding, first mechanical arm end stress data is zero, if colliding, according to the
One mechanical arm and the end pose of second mechanical arm calculate collision depth vector, subsequently into step 4；
Step 4, first mechanical arm end stress data is calculated using spring model,
F=-kx
Wherein, k is spring constant, and x is collision depth vector, and F is stress data, and F is six-vector, scalar be six from
By degree power/torque data；
Step 5, the six degree of freedom power of first mechanical arm end step 4 obtained/torque data-conversion obtains the second machine
Six degree of freedom power/torque data of tool arm end.
Further, when mechanical arm Pose Control, industrial personal computer is calculated according to the angle-data of each rotary joint of main manipulator
The desired value of end of arm speed vector is moved by the control interface of mechanical arm according to the desired value control machinery arm；
Obtain end of arm speed vector desired value method be：Main manipulator is modeled with D-H modeling methods, obtains main operation
Transformational relation of the angle-data of each rotary joint of hand to main manipulator end pose data；Industrial personal computer receives main manipulator
The angle-data of each rotary joint sent, is calculated main manipulator end pose data, so according to the transformational relation
Main manipulator end pose data are obtained into main manipulator tip speed data by differentiating afterwards；According to main manipulator end
Pose data and tip speed data, operating speed feedforward PID controller, are calculated the expectation of end of arm speed vector
Value.
Further, the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
Compared with prior art, the present invention its remarkable advantage is：
(1) for operating personnel by the end of manipulation main manipulator, the end of livewire work mechanical arm can follow main operation
The posture of hand end, the posture for the main manipulator that operating personnel see are also the posture of livewire work mechanical arm, this to operate
Intuitively, flexibly.So that remote operating is no longer that single posture is given, operating personnel can experience electrification for the introducing of force feedback function
The contact force of Work machine arm and environment possesses preferably operation telepresenc, to improve the convenience and essence of operating robotic arm
Exactness；In addition, feeling feedback by power it can be found that the collision of mechanical arm and environment makes up and only leans on to reduce dangerous generation
The deficiency of inspection operation；
(2) present invention detects collision in advance with Collision Detection, reminds operating personnel by force feedback, avoids causing
Collision between mechanical arm, it is caused dangerous to reduce operation, automation and the work of robot manipulating task are improved on the whole
Industry precision, while improving operational security.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention；
Fig. 5 is the structural schematic diagram of main manipulator in the present invention；
Fig. 6 is the block diagram of mechanical arm cooperation force feedback master ＆ slave control system in the present invention；
Fig. 7 is the block diagram of mechanical arm pose closed loop controller in the present invention.
Specific implementation mode
It is readily appreciated that, technical solution according to the present invention, in the case where not changing the connotation of the present invention, this field
Those skilled in the art can imagine hot line robot mechanical arm of the present invention cooperation force feedback master-slave control method and be
The numerous embodiments of system.Therefore, detailed description below and attached drawing are only the exemplary theory to technical scheme of the present invention
It is bright, and be not to be construed as the whole of the present invention or be considered as the limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 drives for operating personnel, to which robot platform 4 is transported operation field.Insulation bucket arm
Support leg is housed, support leg can be unfolded, to which aerial lift device with insulated arm 1 and ground are consolidated support on vehicle 1.On aerial lift device with insulated arm 1
Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can be by controlling the driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
It is provided with main manipulator in control room 2, mechanical arm is provided on robot platform 4.It is main under the control of industrial personal computer
Operation realizes master ＆ slave control operation with mechanical arm.Industrial personal computer can be divided into the first industrial personal computer and the second industrial personal computer.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, special
Tool box 47, communication module etc..
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Accumulator 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As head 41, binocular camera 45, depth camera 410, communication module power supply.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change
Device.Mechanical arm uses tool fast replacing device to obtain power tool according in the type to tool box special 47 of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operating device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relationship.Mechanical arm and main manipulator have same or similar structure, and only main manipulator dimensions is smaller than mechanical arm,
In order to which operating personnel operate.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction
The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433
434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436
437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；First industrial personal computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
In above-mentioned band point Work robot, main manipulator, mechanical arm and industrial personal computer composition hot line robot power are anti-
Present master ＆ slave control system.
The main manipulator is the mechanical arm configuration of one or more degree of freedom series connection, can acquire each rotary joint
Angle-data, each rotary joint have torque motor, can output torque, to realize force feedback function.As a kind of reality
Mode is applied, as shown in figure 5, the mechanical arm configuration of six degree of freedom series connection may be used, the angle number of six rotary joints can be acquired
According to, each rotary joint has torque motor, can output torque, to realize force feedback function.
The mechanical arm communicates or similar with main manipulator, is one or more degree-of-freedom manipulator structure, can
Mechanical arm tail end pose data are sent in real time, mechanical arm tail end is equipped with six degree of freedom power/torque sensor, six degree of freedom power/
The stress data for the six direction that torque sensor generates when being contacted with environment for collection machinery arm.As a kind of embodiment party
Formula, as shown in figure 4, sixdegree-of-freedom simulation may be used, mechanical arm tail end installs six degree of freedom power/torque sensor, power/power
Square sensor contacts the stress data generated with environment for collection machinery arm.
Industrial personal computer receives the angle-data for six rotary joints that main manipulator is sent, according to force feedback master ＆ slave control side
Method calculates the desired value of end of arm speed vector, passes through the control interface of mechanical arm, the movement of control machinery arm；It is described
Industrial personal computer receives six degree of freedom power/torque data that mechanical arm is sent and calculates main operation according to force feedback master-slave control method
The torque data in six joints of hand controls main manipulator output torque by the control interface of main manipulator.
Force feedback master ＆ slave control of the present invention includes two aspects, when mechanical arm posture control method, i.e., according to master
The angle-data of each rotary joint of manipulator calculates the desired value of end of arm speed vector as controlled quentity controlled variable, passes through machine
The control interface of tool arm, the movement of control machinery arm；Second is that main manipulator force-feedback control method, i.e., certainly according to the six of tool arm end
By degree power/torque data, the torque data in each joint of main manipulator is calculated, passes through the control interface of main manipulator, control
Main manipulator output torque.
Below by taking six degree of freedom main manipulator and mechanical arm as an example, illustrate force feedback master ＆ slave control process.
Mechanical arm posture control method, i.e., the angle-data of six rotary joints sent according to main manipulator are counted in real time
The controlled quentity controlled variable of mechanical arm tail end position and posture is calculated, the controlled quentity controlled variable is end of arm speed vector.Specifically, mechanical arm
Posture control method is divided into following steps：
Step 1, main manipulator Kinematic Model models main manipulator with D-H modeling methods, obtains main manipulator
Transformational relation of the angle-data of six rotary joints to main manipulator end pose data.
Step 2, the transformational relation obtained according to step 1, industrial personal computer receive six rotary joints that main manipulator is sent
Main manipulator end pose data are calculated in angle-data, and main manipulator end pose data are obtained by differentiating
Main manipulator tip speed data.
Step 3, mechanical arm pose closed loop controller is designed, using velocity feed forward PID controller.The master that step 2 is obtained
Mechanical arm controlled quentity controlled variable is calculated according to velocity feed forward PID controller in manipulator end pose data and tip speed data,
That is end of arm speed vector is sent to the control interface of mechanical arm, control machine by end of arm speed vector, industrial personal computer
Tool arm moves.
Main manipulator force-feedback control method calculates master in real time that is, according to the six degree of freedom of mechanical arm power/torque data
The torque data in six joints of manipulator.Six degree of freedom power/torque data of mechanical arm tail end include two parts, and a part comes from
The stress data generated when mechanical arm and environment contact, this partial data are passed by six degree of freedom power/torque of mechanical arm tail end
Sensor acquisition obtains；Another part comes from the stress data for mutually colliding between mechanical arm and generating.The sum of aforementioned two parts
Constitute the total six degree of freedom power/torque data of mechanical arm.Specifically, main manipulator force-feedback control method is divided into following steps：
Step 1, main manipulator statics models, and is modeled to main manipulator statics with the principle of virtual work, obtains mechanical arm
The transformational relation of end six degree of freedom power/torque data to six joint torque datas of main manipulator.
Step 2, the transformational relation obtained according to step 1, the industrial personal computer six degree of freedom power/torque data total according to mechanical arm
The torque data in six joints of main manipulator is calculated, torque data is sent to the force-feedback control of main manipulator by industrial personal computer
Interface makes main manipulator feed back stress.
In the present invention, come from the stress data for mutually colliding between mechanical arm and generating, cooperated using double mechanical arms
Force-feedback control method, which calculates, to be obtained, that is, Collision Detection, detection first mechanical arm is used to be surrounded with second mechanical arm end
Whether ball collides, and calculates separately out obstruction first mechanical arm, the end feedback force that second mechanical arm end is collided, scalar
For six degree of freedom power/torque data.Detailed process is：
Step 1, the end pose for obtaining first mechanical arm and second mechanical arm, is arrived with the basis coordinates system of second mechanical arm
The end pose coordinate of second mechanical arm is transformed into the base of first mechanical arm by the transition matrix of the basis coordinates system of first mechanical arm
In coordinate system.The method for obtaining the end pose of first mechanical arm and second mechanical arm is identical as main manipulator.
Step 2, it in the basis coordinates system of first mechanical arm, using the end pose coordinate of first mechanical arm as the centre of sphere, creates
Ball is surrounded, the radius for surrounding ball is collision detection radius.
Step 3, in the basis coordinates system of first mechanical arm, the end pose for detecting above-mentioned encirclement ball and second mechanical arm is sat
Target collides relationship, if not colliding, first mechanical arm end stress data is zero, the first main manipulator end feedback
Power is also zero, if colliding, calculates collision depth vector according to the end pose of first mechanical arm and second mechanical arm, so
After enter step 4.
Step 4, first mechanical arm end stress data is calculated, is specifically calculated using spring model,
F=-kx
Wherein, k is spring constant, and x is collision depth vector, and F is stress data.F is six-vector, scalar be six from
By degree power/torque data.
Step 5, second mechanical arm end stress data, six degree of freedom power/torque data symbol that step 4 is obtained are calculated
Negate the six degree of freedom power/torque data that can be obtained second mechanical arm end, it is seen then that feed back force vector in first mechanical arm end
Identical as second mechanical arm end feedback force vector size, direction is opposite.
The end pose coordinate of first mechanical arm can be transformed into the basis coordinates system of second mechanical arm by aforementioned process.
The feedback force generated by collision between auxiliary mechanical arm and first mechanical arm or second mechanical arm can be calculated.
Claims (10)
- The force feedback master-slave control method 1. a kind of hot line robot mechanical arm cooperates, which is characterized in that manipulator, mechanical arm Hot line robot force feedback master ＆ slave control system is formed with industrial personal computer；Mechanical arm tail end is equipped with six degree of freedom power/torque Sensor；When main manipulator force-feedback control, industrial personal computer calculates each pass of main manipulator according to the stress data of mechanical arm tail end The torque data of section controls each joint output torque of main manipulator by the control interface of main manipulator；The scalar of tool arm end stress data is six degree of freedom power/torque data, including two parts：A part comes from machine The stress data that tool arm and environment generate when contacting, this partial data by mechanical arm tail end six degree of freedom power/torque sensor Acquisition obtains；Another part comes from the stress data for mutually colliding between mechanical arm and generating.
- The force feedback master-slave control method 2. hot line robot mechanical arm as described in claim 1 cooperates, which is characterized in that right Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data to each joint torque number of main manipulator According to transformational relation, industrial personal computer calculates the torque data in each joint of main manipulator according to the transformational relation.
- The force feedback master-slave control method 3. hot line robot mechanical arm as described in claim 1 cooperates, which is characterized in that come It is prepared by the following from the stress data for mutually colliding and generating between mechanical arm：Step 1, the end pose for obtaining first mechanical arm and second mechanical arm, with the basis coordinates system of second mechanical arm to first The end pose coordinate of second mechanical arm is transformed into the basis coordinates of first mechanical arm by the transition matrix of the basis coordinates system of mechanical arm In system；Step 2, it in the basis coordinates system of first mechanical arm, using the end pose coordinate of first mechanical arm as the centre of sphere, creates and surrounds Ball, the radius for surrounding ball are collision detection radius；Step 3, in the basis coordinates system of first mechanical arm, above-mentioned encirclement ball and the end pose coordinate of second mechanical arm are detected Collision relationship, if not colliding, first mechanical arm end stress data is zero, if colliding, according to the first machine Tool arm and the end pose of second mechanical arm calculate collision depth vector, subsequently into step 4；Step 4, first mechanical arm end stress data is calculated using spring model,F=-kxWherein, k is spring constant, and x is collision depth vector, and F is stress data, and F is six-vector, and scalar is six degree of freedom Power/torque data；Step 5, the six degree of freedom power of first mechanical arm end step 4 obtained/torque data-conversion obtains second mechanical arm Six degree of freedom power/torque data of end.
- The force feedback master-slave control method 4. hot line robot mechanical arm as described in claim 1 cooperates, which is characterized in that machine When tool arm Pose Control, industrial personal computer calculates end of arm speed arrow according to the angle-data of each rotary joint of main manipulator The desired value of amount is moved by the control interface of mechanical arm according to the desired value control machinery arm；Obtain mechanical arm tail end speed Degree vector desired value method be：Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed Feedover PID controller, and end of arm speed vector desired value is calculated.
- The force feedback master-slave control method 5. any one hot line robot mechanical arm as described in Claims 1-4 cooperates, It is characterized in that, the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
- The force feedback master ＆ slave control system 6. a kind of hot line robot mechanical arm cooperates, which is characterized in that including manipulator, machine Tool arm and industrial personal computer；Mechanical arm tail end is equipped with six degree of freedom power/torque sensor；The main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure；The main manipulator can acquire The angle-data of each rotary joint, each rotary joint have torque motor, being capable of output torque；The mechanical arm tail end peace Equipped with six degree of freedom power/torque sensor, the stress data of the six direction generated when being contacted for collection machinery arm and environment；When main manipulator force-feedback control, industrial personal computer calculates each pass of main manipulator according to the stress data of mechanical arm tail end The torque data of section controls each joint output torque of main manipulator by the control interface of main manipulator；The scalar of tool arm end stress data is six degree of freedom power/torque data, including two parts：A part comes from machine The stress data that tool arm and environment generate when contacting, this partial data by mechanical arm tail end six degree of freedom power/torque sensor Acquisition obtains；Another part comes from the stress data for mutually colliding between mechanical arm and generating.
- The force feedback master ＆ slave control system 7. hot line robot mechanical arm as claimed in claim 6 cooperates, which is characterized in that right Main manipulator statics models, and obtains mechanical arm tail end six degree of freedom power/torque data to each joint torque number of main manipulator According to transformational relation, industrial personal computer calculates the torque data in each joint of main manipulator according to the transformational relation.
- The force feedback master ＆ slave control system 8. hot line robot mechanical arm as claimed in claim 6 cooperates, which is characterized in that come It is prepared by the following from the stress data for mutually colliding and generating between mechanical arm：Step 1, the end pose for obtaining first mechanical arm and second mechanical arm, with the basis coordinates system of second mechanical arm to first The end pose coordinate of second mechanical arm is transformed into the basis coordinates of first mechanical arm by the transition matrix of the basis coordinates system of mechanical arm In system；Step 2, it in the basis coordinates system of first mechanical arm, using the end pose coordinate of first mechanical arm as the centre of sphere, creates and surrounds Ball, the radius for surrounding ball are collision detection radius；Step 3, in the basis coordinates system of first mechanical arm, above-mentioned encirclement ball and the end pose coordinate of second mechanical arm are detected Collision relationship, if not colliding, first mechanical arm end stress data is zero, if colliding, according to the first machine Tool arm and the end pose of second mechanical arm calculate collision depth vector, subsequently into step 4；Step 4, first mechanical arm end stress data is calculated using spring model,F=-kxWherein, k is spring constant, and x is collision depth vector, and F is stress data, and F is six-vector, and scalar is six degree of freedom Power/torque data；Step 5, the six degree of freedom power of first mechanical arm end step 4 obtained/torque data-conversion obtains second mechanical arm Six degree of freedom power/torque data of end.
- The force feedback master ＆ slave control system 9. hot line robot mechanical arm as claimed in claim 6 cooperates, which is characterized in that machine When tool arm Pose Control, industrial personal computer calculates end of arm speed arrow according to the angle-data of each rotary joint of main manipulator The desired value of amount is moved by the control interface of mechanical arm according to the desired value control machinery arm；Obtain mechanical arm tail end speed Degree vector desired value method be：Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed Feedover PID controller, and end of arm speed vector desired value is calculated.
- 10. any one hot line robot mechanical arm cooperation force feedback master ＆ slave control system as described in claim 6 to 9 System, which is characterized in that the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319649.8A CN108284425A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319649.8A CN108284425A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284425A true CN108284425A (en) | 2018-07-17 |
Family
ID=62834439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319649.8A Pending CN108284425A (en) | 2018-04-11 | 2018-04-11 | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284425A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110842951A (en) * | 2019-11-18 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | Control system and method based on defect repairing robot on overhead conductor |
| CN111409079A (en) * | 2020-05-19 | 2020-07-14 | 路邦科技授权有限公司 | Multi-connection and interconnection control system of industrial-grade mechanical arm |
| CN111831115A (en) * | 2020-06-28 | 2020-10-27 | 深圳市罗伯医疗科技有限公司 | Manipulator device control method, upper computer, electronic equipment and storage medium |
| CN112641293A (en) * | 2021-01-21 | 2021-04-13 | 长沙理工大学 | Device for industrial art exhibition |
| CN112828862A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Master-slave mapping method for parallel platform, mechanical arm system and storage medium |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
| WO2023143138A1 (en) * | 2022-01-26 | 2023-08-03 | 上海三一重机股份有限公司 | Force feedback control method, apparatus, and system of remote control end of working machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773853A (en) * | 2012-07-10 | 2012-11-14 | 北京航空航天大学 | Accessory position manipulating and automatic collision prevention monitoring method orientating to dual-arm engineering machinery |
| CN103722565A (en) * | 2014-01-23 | 2014-04-16 | 哈尔滨工业大学 | Self-collision monitoring system for humanoid robot and monitoring method thereof |
| CN106625662A (en) * | 2016-12-09 | 2017-05-10 | 南京理工大学 | Virtual reality based live-working mechanical arm anti-collision protecting method |
| CN106737548A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot operation monitoring system |
| CN106737547A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot |
| CN107609222A (en) * | 2017-08-16 | 2018-01-19 | 北京控制工程研究所 | A kind of robot for space end contact-impact power computational methods |
| CN107803831A (en) * | 2017-09-27 | 2018-03-16 | 杭州新松机器人自动化有限公司 | A kind of AOAAE bounding volume hierarchy (BVH)s collision checking method |
-
2018
- 2018-04-11 CN CN201810319649.8A patent/CN108284425A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773853A (en) * | 2012-07-10 | 2012-11-14 | 北京航空航天大学 | Accessory position manipulating and automatic collision prevention monitoring method orientating to dual-arm engineering machinery |
| CN103722565A (en) * | 2014-01-23 | 2014-04-16 | 哈尔滨工业大学 | Self-collision monitoring system for humanoid robot and monitoring method thereof |
| CN106625662A (en) * | 2016-12-09 | 2017-05-10 | 南京理工大学 | Virtual reality based live-working mechanical arm anti-collision protecting method |
| CN106737548A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot operation monitoring system |
| CN106737547A (en) * | 2016-12-09 | 2017-05-31 | 南京理工大学 | A kind of hot line robot |
| CN107609222A (en) * | 2017-08-16 | 2018-01-19 | 北京控制工程研究所 | A kind of robot for space end contact-impact power computational methods |
| CN107803831A (en) * | 2017-09-27 | 2018-03-16 | 杭州新松机器人自动化有限公司 | A kind of AOAAE bounding volume hierarchy (BVH)s collision checking method |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497442A (en) * | 2019-09-07 | 2019-11-26 | 遨博（江苏）机器人有限公司 | Mechanical arm, cooperation robot and the two working method of high load large arm exhibition |
| CN110842951A (en) * | 2019-11-18 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | Control system and method based on defect repairing robot on overhead conductor |
| CN111409079A (en) * | 2020-05-19 | 2020-07-14 | 路邦科技授权有限公司 | Multi-connection and interconnection control system of industrial-grade mechanical arm |
| CN111831115A (en) * | 2020-06-28 | 2020-10-27 | 深圳市罗伯医疗科技有限公司 | Manipulator device control method, upper computer, electronic equipment and storage medium |
| CN112828862A (en) * | 2020-12-30 | 2021-05-25 | 诺创智能医疗科技(杭州)有限公司 | Master-slave mapping method for parallel platform, mechanical arm system and storage medium |
| CN112641293A (en) * | 2021-01-21 | 2021-04-13 | 长沙理工大学 | Device for industrial art exhibition |
| CN114469356A (en) * | 2022-01-24 | 2022-05-13 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot medical console |
| CN114469356B (en) * | 2022-01-24 | 2023-09-15 | 重庆金山医疗机器人有限公司 | Driving method of master hand and surgical robot doctor control console |
| WO2023143138A1 (en) * | 2022-01-26 | 2023-08-03 | 上海三一重机股份有限公司 | Force feedback control method, apparatus, and system of remote control end of working machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108284425A (en) | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system | |
| CN106493708B (en) | A kind of hot line robot control system based on double mechanical arms and sub-arm | |
| CN103302668A (en) | Kinect-based space teleoperation robot control system and method thereof | |
| CN108582031A (en) | A kind of hot line robot branch based on force feedback master ＆ slave control connects gage lap method | |
| CN108527305A (en) | A kind of hot line robot force feedback master-slave control method and system based on virtual reality technology | |
| CN108748152B (en) | Robot teaching method and system | |
| CN108582119A (en) | A kind of hot line robot force feedback master-slave control method and system | |
| CN106737547A (en) | A kind of hot line robot | |
| CN108297068A (en) | A kind of hot line robot specific purpose tool replacing options based on force feedback master ＆ slave control | |
| CN106595762B (en) | A kind of hot line robot strain insulator detection method | |
| CN106737862B (en) | Data communication system of live working robot | |
| Naceri et al. | Towards a virtual reality interface for remote robotic teleoperation | |
| CN206510017U (en) | A kind of hot line robot | |
| CN110039561A (en) | Hot line robot remote operating staff training system and method based on cloud | |
| CN106737548A (en) | A kind of hot line robot operation monitoring system | |
| CN108598990A (en) | A kind of hot line robot aerial earth wire replacement method for repairing and mending based on force feedback master ＆ slave control technology | |
| CN110421558B (en) | Universal teleoperation system and method for power distribution network operation robot | |
| CN108582032A (en) | A kind of hot line robot mechanical arm cooperation force feedback master-slave control method and system based on virtual reality technology | |
| CN108565793A (en) | A kind of hot line robot conducting wire mending method based on force feedback master ＆ slave control | |
| Zhao et al. | An intuitive human robot interface for tele-operation | |
| CN108462108A (en) | A kind of hot line robot strain insulator replacing options based on force feedback master ＆ slave control | |
| CN215903514U (en) | Live working arm and live working robot | |
| WO2011140704A1 (en) | Apparatus, method, program and recording medium for robot offline teaching | |
| CN206623081U (en) | A kind of hot line robot operation monitoring system | |
| CN106965147A (en) | A kind of hot line robot isolation switch detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180717 |