CN109465803A - Tow-armed robot system of subject - Google Patents
Tow-armed robot system of subject Download PDFInfo
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- CN109465803A CN109465803A CN201810661813.3A CN201810661813A CN109465803A CN 109465803 A CN109465803 A CN 109465803A CN 201810661813 A CN201810661813 A CN 201810661813A CN 109465803 A CN109465803 A CN 109465803A
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- Prior art keywords
- tow
- armed robot
- neck
- waist
- motor
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- B25J9/1694—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to tow-armed robot system of subject, the tow-armed robot system of subject includes waist, neck, arm part, finger section；The neck is mounted on waist upper end by quick change bindiny mechanism；The waist two sides are equipped with arm part；The distal end of the arm part is equipped with finger section.Its advantage is shown: a kind of tow-armed robot system of subject of the invention, have freedom degree it is good, the control based on position ring and speed ring, be convenient for remote real_time control, and can remote transmission the advantages that.
Description
Technical field
The present invention relates to tow-armed robot technical fields, specifically, being tow-armed robot system of subject.
Background technique
Tow-armed robot is to obtain most filling with the automated machine of practical application extensively at present in robotic technology field
It sets, its figure can be seen in fields such as industrial manufacture, therapeutic treatment, entertainment service, military affairs and space probations.It is producing
In the process, tow-armed robot can catch workpiece with left arm, and right arm is worked in same position using corresponding tool, is not present
Waiting area is collided, solve current one armed robot uses bottleneck, preferably meets the man-machine assistance of art production process
Function.
However, in the prior art, about tow-armed robot system of subject, the following defects and deficiencies exist:
Firstly, tow-armed robot system of subject freedom degree in the prior art is not comprehensive, the work of tow-armed robot is limited
Dynamic range and flexibility, the purpose of finger envelope target object when cannot grab.
Secondly, tow-armed robot system of subject in the prior art cannot the control based on position ring and speed ring.
In addition, spatial positional information cannot be passed to operator by tow-armed robot system of subject in the prior art, no
Convenient for operating this remote real_time control.
Furthermore tow-armed robot system of subject electric control project in the prior art is asked there are transmission range is limited etc.
Topic.
Chinese patent literature CN201610613940.7, the applying date 20160728 disclose a kind of intelligent coordinated both arms machine
Device people, including mounting base and two arms；Two arm mirror symmetries are arranged in mounting base two sides；Each arm includes successively connecting
Shoulder arm component, rear end arm component, elbow arm component, front end arm component and the wrist arm group for connecting end execution unit connect
Part；One end of shoulder arm component connects mounting base, and can rotate around mounting base；One end of rear end arm component and the shoulder arm component other end
Side be rotatably connected；The one end side of elbow arm component and the other end of rear end arm component are rotatably connected；Front end arm component
One end connect with the other end of elbow arm component, and can be around its axial-rotation；One end of wrist arm component and front end arm component
Other end connection, and can be swung around the length direction of front end arm component, the other end of wrist arm component is for connecting end execution
Component.
The tow-armed robot of above patent document is compact-sized and design is reasonable, so that the intelligent coordinated both arms machine
Man-machine tool structural rigidity is good, small and lighter in weight.But a kind of, control based on position ring and speed ring good about freedom degree
System, is convenient for remote real_time control, and can the technical solution of remote transmission then disclose accordingly.
In conclusion needing a kind of freedom degree good, remote real_time control is convenient in the control based on position ring and speed ring,
And can remote transmission tow-armed robot system of subject, and yet there are no report about this tow-armed robot system of subject.
Summary of the invention
It is good the purpose of the present invention is aiming at the shortcomings in the prior art, providing a kind of freedom degree, it is based on position ring and speed
The control of ring, be convenient for remote real_time control, and can remote transmission tow-armed robot system of subject.
Another purpose of the invention is to provide a kind of control method of control system.
Another purpose of the invention is to provide a kind of control method of long-distance video control system.
The fourth object of the present invention is to provide a kind of electric control system.
To achieve the above object, the technical solution adopted by the present invention is that:
Tow-armed robot system of subject, the tow-armed robot system of subject include waist, neck, arm part, finger
Portion；The neck is mounted on waist upper end by quick change bindiny mechanism；The waist two sides are equipped with arm part；The hand
The distal end of arm is equipped with finger section；
There are two freedom degrees, respectively neck rolling, neck pitching for the neck tool；Neck motor is equipped in the neck；
There are two freedom degrees, respectively waist rolling, waist pitching for the waist tool；Waist electricity is equipped in the waist
Machine；
The arm part has six-freedom degree, respectively shoulder rolling, shoulder pitching, shoulder elbow rolling, elbow pitching, wrist rolling
Turn, wrist pitching；
The finger section has six-freedom degree；The finger section includes thumb, four fingers, palm；The hand
Refer to and four fingers are arranged on palm, and thumb is located at four and refers to sides；The thumb and four fingers are equipped with joint；
The palm and it is intra-articular be mounted on micro-driving motor, four refer on adjacent segment between be connected with steel
Cord, and pass through wirerope coupled drive；The thumb is equipped with pull rod, and the freedom degree of thumb is passed by pull rod joint
It is dynamic.
As a kind of perferred technical scheme, shoulder motor, ancon motor, wrist motor are equipped in the arm part；
The shoulder motor, ancon motor, wrist motor are equal are as follows: step section；The long 270mm of the upper and lower arms of the arm part, hand
Brachium 540mm, arm central point to finger end 800mm.
As a kind of perferred technical scheme, on the thumb tool there are two joint, each joint have one from
By spending；Described four refer to respectively include three finger joints and four joints, have three degree of freedom, wherein preceding three finger joint movement is related,
Shared one degree of freedom.
As a kind of perferred technical scheme, the finger section is equipped with finger mounted slot and mechanical interface.
As a kind of perferred technical scheme, the tow-armed robot system of subject further includes control system.
As a kind of perferred technical scheme, the tow-armed robot system of subject further includes long-distance video control system
System.
To realize above-mentioned second purpose, the technical solution adopted by the present invention is that:
The control method of the control system is as follows:
Step S1, the instruction of remote sensing potentiometer input action is carried out on main operation case；
Step S2, it is handled by 32bit system AD；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, it after receiving antenna receives the signal that transmitting antenna is propagated on motion platform framework, is penetrated by 5.8Ghz
Frequency reception-bridge framework is transferred to 32bit main control unit system；
Step S5,32bit main control unit system will send CANOPEN instruction to each driver, carry out based on position ring
With the control of speed ring.
To realize above-mentioned third purpose, the technical solution adopted by the present invention is that:
The control method of the long-distance video control system is as follows:
Step S1,700 line cameras or 720p camera is selected to obtain information；
Step S2, A/V is handled by video system；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, after receiving antenna receives the signal that transmitting antenna is propagated, pass through 5.8Ghz radio frequency reception-bridge framework
It is transferred to video system, while being monitored using LCD monitor.
To realize above-mentioned 4th purpose, the technical solution adopted by the present invention is that:
The electric control system includes remote operating layer, master control layer, drive control layer；The remote operating layer and driving
Connection is established by master control layer between control layer；The remote operating layer is equipped with remote operating computer, visual feedback computer；
The master control preparative layer is equipped with robot central controller and mobile platform central controller；The exterior layer includes hand
Motor, joint control and neck motor.
The invention has the advantages that:
1, a kind of tow-armed robot system of subject of the invention has freedom degree good, the control based on position ring and speed ring
System, be convenient for remote real_time control, and can remote transmission the advantages that.
2, tow-armed robot system of subject includes waist, neck, arm part, finger section, and is provided with corresponding freedom degree,
Waist and neck telemechanical all around are enabled to, enables to palmar hand to simulate manpower telemechanical, enables tow-armed robot
Enough flexible motions, meet manipulation demand.
3, there are two freedom degrees, respectively neck rolling, neck pitching for the neck tool of system of subject, can be used as the cloud of binocular camera
Platform obtains information convenient for never angle, can more comprehensively carry out distant behaviour.
4, quick change bindiny mechanism is equipped under waist, convenient for using robot as the whole installation from car body of modularization and
Disassembly.
5, finger section includes thumb, four fingers, palm；Wherein, thumb is individually designed, which increases big thumb
The scope of activities of finger.
6, finger section is equipped with mounting groove, for positioning and fixing each finger；Finger section is equipped with mechanical interface, for connecting
The catcher palm and robot elbow arm wrist portion.
7, it is equipped with control system, control system can obtain the absolute position and relative position of tow-armed robot, absolute position
Setting can be mutually authenticated between relative position, so as to precisely obtain the position where tow-armed robot, can realize
It is controlled based on tow-armed robot position ring.Secondly, by this implementation open in control system, visual control acceleration and can subtract
Speed can be realized the control of speed ring.
8, it is equipped with remote video system, while remote video system, the spatial positional information of tow-armed robot can be passed
Operator is passed, convenient for operating this remote real_time control.
Detailed description of the invention
Attached drawing 1 is a kind of structural schematic diagram of tow-armed robot system of subject of the invention.
Attached drawing 2 is that a kind of freedom degree of tow-armed robot system of subject of the invention indicates model schematic.
Attached drawing 3 is a kind of structural block diagram of tow-armed robot system of subject of the invention.
Attached drawing 4 is finger section structural schematic diagram.
Attached drawing 5 is thumb transmission principle schematic diagram.
Attached drawing 6 is four finger transmission principle schematic diagrames.
Attached drawing 7 is the flow diagram of tele-control system.
Attached drawing 8 is the flow diagram of long-distance video control system.
Attached drawing 9 is the structural block diagram of electric control system.
Specific embodiment
It elaborates with reference to the accompanying drawing to specific embodiment provided by the invention.
Appended drawing reference involved in attached drawing and component part are as follows:
1. 2. neck of waist
3. 4. finger section of arm part
41. thumb 42. 4 refers to
43. palm
Embodiment 1
Fig. 1-Fig. 3 is please referred to, Fig. 1 is a kind of structural schematic diagram of tow-armed robot system of subject of the invention.Fig. 2 is this
A kind of freedom degree of tow-armed robot system of subject of invention indicates model schematic.Fig. 3 is a kind of both arms machine of the invention
The structural block diagram of human agent's system.A kind of tow-armed robot system of subject, the tow-armed robot system of subject includes waist
1, neck 2, arm part 3, finger section 4；The neck 2 is mounted on 1 upper end of waist by quick change bindiny mechanism；The waist
1 two sides are equipped with arm part 3；The distal end of the arm part 3 is equipped with finger section 4.
There are two freedom degrees, respectively neck rolling, neck pitching for the tool of neck 2；2 electricity of neck is equipped in the neck 2
Machine, 2 motor of neck altogether there are two, the model of use are as follows: step section.
There are two freedom degrees, respectively waist rolling, waist pitching for the tool of waist 1；Waist 1 is equipped in the waist 1
Motor, model are as follows: step section.
The arm part 3 is equipped with heavily loaded joint, underloading joint and structural connection；The arm part 3 has
Six-freedom degree, respectively shoulder rolling, shoulder pitching, shoulder elbow rolling, elbow pitching, wrist rolling, wrist pitching；In the arm part 3
Equipped with shoulder motor, ancon motor, wrist motor；The shoulder motor, ancon motor, wrist motor are equal are as follows: step section；It is described
The upper and lower arms of arm part 3 long 270mm, the long 540mm of arm, arm central point to finger end 800mm.
The finger section 4 includes that thumb 41, four refers to 42, palm 43；Joint there are two tools on the thumb 41,
Each joint has one degree of freedom；Described four refer to that 42 respectively include three finger joints, four joints, have three degree of freedom,
In, preceding three finger joint movement is related, shares one degree of freedom；Described 43, palm are equipped with finger mounted slot and mechanical interface.
The palm 43 and it is intra-articular be mounted on micro-driving motor, four refer to and connect between adjacent segment on 42
There is wirerope, and passes through wirerope coupled drive；The thumb 41 is equipped with pull rod, and the freedom degree of thumb passes through pull rod
Joint transmission.
The embodiment it should be understood that
The tow-armed robot system of subject includes waist 1, neck 2, arm part 3, finger section 4, and is provided with corresponding
Freedom degree, enable to waist 1 and neck 2 telemechanical all around, enable to 43 simulation manpower telemechanicals of palm so that
Tow-armed robot can flexible motion, meet manipulation demand.
There are two freedom degrees, respectively neck rolling, neck pitching for the tool of neck 2 of the system of subject, can be used as binocular camera
Holder, obtain information convenient for never angle, can more comprehensively carry out remote operating.
The waist 1 is lower to be equipped with quick change bindiny mechanism, convenient for whole from car body using robot as a modularization
Installation and removal.
Referring to figure 4., Fig. 4 is 4 structural schematic diagram of finger section.The finger section 4 includes that thumb 41, four refers to 42, hand
The palm 43；Wherein, thumb 41 is individually designed, which increases the scope of activities of thumb 41.
The finger section 4 is referred to as DC servo motor as driving element, index finger etc. three using the dedicated steering engine of robot
Preceding three finger joint movement coupling, is realized using wirerope and is driven, another freedom degree of thumb uses pull rod joint transmission.
Wire rope gearing principle is as shown in Figure 5 and Figure 6.Remote finger joint joint is connected with middle finger joint joint with wirerope, electricity
Machine drives two points of force application of middle finger joint joint simultaneously, drives remote finger joint in respectively, and small finger joint realizes coupled motions.
Finger envelope target object when in order to achieve the purpose that grab, middle finger joint joint use the insufficient DOF mechanism of designed, designed,
Make two finger joint mobile decouplings, i.e., when middle finger joint, which is obstructed, to be moved, the transmission ratio of setting is broken, and remote finger joint is remained to after reforwarding
It is dynamic.
Finger section 4 is equipped with mounting groove, for positioning and fixing each finger.Finger section 4 is equipped with mechanical interface, for connecting
The catcher palm 43 and robot elbow arm wrist portion.
Embodiment 2
Fig. 7 is please referred to, Fig. 7 is the flow diagram of tele-control system.The present embodiment is substantially the same manner as Example 1, no
It is with place, the system of subject further includes control system；The control method of the control system is as follows:
Step S1, the instruction of remote sensing potentiometer input action is carried out on main operation case；
Step S2, it is handled by 32bit system AD；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, it after receiving antenna receives the signal that transmitting antenna is propagated on motion platform framework, is penetrated by 5.8Ghz
Frequency reception-bridge framework is transferred to 32bit main control unit system；
Step S5,32bit main control unit system will send CANOPEN instruction to each driver, carry out based on position ring
With the control of speed ring.
The embodiment it should be understood that
By the control system in this implementation, the absolute position and relative position of tow-armed robot, absolute position can be obtained
Setting can be mutually authenticated between relative position, so as to precisely obtain the position where tow-armed robot, can realize
It is controlled based on tow-armed robot position ring.Secondly, by this implementation open in control system, visual control acceleration and can subtract
Speed can be realized the control of speed ring.
Embodiment 3
Fig. 8 is please referred to, Fig. 8 is the flow diagram of long-distance video control system.The present embodiment is substantially the same manner as Example 1,
The difference is that the system of subject further includes remote video system；The control of the long-distance video control system
Method is as follows:
Step S1,700 line cameras or 720p camera is selected to obtain information；
Step S2, A/V is handled by video system；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, after receiving antenna receives the signal that transmitting antenna is propagated, pass through 5.8Ghz radio frequency reception-bridge framework
It is transferred to video system, while being monitored using LCD monitor.
The embodiment it should be understood that
It further include remote video system in the system of subject, while remote video system, it can be by tow-armed robot
Spatial positional information pass to operator, convenient for operate this remote real_time control.
Embodiment 4
Fig. 9 is please referred to, Fig. 9 is the structural block diagram of electric control system.The present embodiment is substantially the same manner as Example 1, no
It is with place, a kind of electric control system is provided in the present embodiment, and the electric control system includes remote operating layer, master
Control layer, drive control layer；Connection is established by master control layer between the remote operating layer and drive control layer；The remote operating
Layer is equipped with remote operating computer, visual feedback computer；The master control preparative layer is equipped with robot central controller and shifting
Moving platform central controller；The exterior layer includes 2 motor of hand motor, joint control and neck；The hand
Motor, joint control and 2 motor of neck establish connection with robot central controller.
The embodiment is it should be understood that robot central controller and mobile platform central controller manipulate communication modes
Using point-to-point wireless bridging mode.Point-to-point type wireless bridge can be used to connect two networks for being located at different location,
It is made of a pair of of bridge and a pair of of antenna.This should be arranged to identical channel to bridge, and wireless bridge supports synchronizing channel
Function, it is only necessary to change the channel of a side, another party will be automatically changed to corresponding channel.In two o'clock apart from each other
Between, in order to obtain preferably bridge joint effect, using the scheme for installing bilateral power amplifier between bridge and antenna.It is double
Have the function of gain receiver signal and amplification output power to radio frequency amplifier, to greatly expand the biography of wireless bridge
Defeated distance.The amplifier of usual a pair of 0.5W can support about 5 kilometers of wireless bridging.
A kind of tow-armed robot system of subject of the invention has freedom degree good, the control based on position ring and speed ring,
Convenient for remote real_time control, and can remote transmission the advantages that；Tow-armed robot system of subject includes waist 1, neck 2, arm part
3, finger section 4, and it is provided with corresponding freedom degree, waist 1 and neck 2 telemechanical all around are enabled to, hand is enabled to
43 simulation manpower telemechanicals are slapped, enable tow-armed robot flexible motion, meet manipulation demand；The neck 2 of system of subject has
There are two freedom degrees, respectively neck rolling, neck pitching, can be used as the holder of binocular camera, obtain information, energy convenient for never angle
It is enough more comprehensively to carry out distant behaviour；Waist 1 is lower to be equipped with quick change bindiny mechanism, convenient for using robot as a modularization it is whole from
It is mounted and dismounted on car body；Finger section 4 includes that thumb 41, four refers to 42, palm 43；Wherein, thumb 41 is individually designed, this sets
Meter mode increases the scope of activities of thumb 41；Finger section 4 is equipped with mounting groove, for positioning and fixing each finger；Finger
Portion 4 is equipped with mechanical interface, for connecting palm 43 and robot elbow arm wrist portion；Equipped with control system, control system can
The absolute position and relative position for obtaining tow-armed robot, can be mutually authenticated between absolute position and relative position, so as to
Enough positions precisely obtained where tow-armed robot, can realize and be controlled based on tow-armed robot position ring.Secondly, passing through this
Implement open in control system, can visual control acceleration and deceleration, can be realized the control of speed ring；Equipped with long-range view
The spatial positional information of tow-armed robot can be passed to operator by display system, while remote video system, convenient for operating this
Remote real_time control.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise of not departing from the method for the present invention, can also make several improvement and supplement, these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (9)
1. tow-armed robot system of subject, which is characterized in that the tow-armed robot system of subject includes waist, neck, hand
Arm, finger section；The neck is mounted on waist upper end by quick change bindiny mechanism；The waist two sides are equipped with arm
Portion；The distal end of the arm part is equipped with finger section；
There are two freedom degrees, respectively neck rolling, neck pitching for the neck tool；Neck motor is equipped in the neck；
There are two freedom degrees, respectively waist rolling, waist pitching for the waist tool；Waist motor is equipped in the waist；
The arm part has six-freedom degree, respectively shoulder rolling, shoulder pitching, shoulder elbow rolling, elbow pitching, wrist rolling, wrist
Pitching；
The finger section has six-freedom degree；The finger section includes thumb, four fingers, palm；The finger and
Four fingers are arranged on palm, and thumb is located at four and refers to sides；The thumb and four fingers are equipped with joint；
The palm and it is intra-articular be mounted on micro-driving motor, four refer on adjacent segment between be connected with steel wire
Rope, and pass through wirerope coupled drive；The thumb is equipped with pull rod, and the freedom degree of thumb is passed by pull rod joint
It is dynamic.
2. tow-armed robot system of subject according to claim 1, which is characterized in that be equipped with shoulder in the arm part
Motor, ancon motor, wrist motor；The shoulder motor, ancon motor, wrist motor are equal are as follows: step section；The arm part
Upper and lower arms long 270mm, the long 540mm of arm, arm central point to finger end 800mm.
3. tow-armed robot system of subject according to claim 1, which is characterized in that on the thumb there are two tools
Joint, each joint have one degree of freedom；Described four refer to respectively include three finger joints and four joints, and there are three freely for tool
Degree, wherein preceding three finger joint movement is related, shares one degree of freedom.
4. tow-armed robot system of subject according to claim 1, which is characterized in that the finger section is pacified equipped with finger
Tankage and mechanical interface.
5. tow-armed robot system of subject according to claim 1, which is characterized in that the tow-armed robot main body system
System further includes control system.
6. tow-armed robot system of subject according to claim 1, which is characterized in that the tow-armed robot main body system
System further includes long-distance video control system.
7. tow-armed robot system of subject according to claim 1, which is characterized in that the controlling party of the control system
Method is as follows:
Step S1, the instruction of remote sensing potentiometer input action is carried out on main operation case；
Step S2, it is handled by 32bit system AD；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, it after receiving antenna receives the signal that transmitting antenna is propagated on motion platform framework, is connect by 5.8Ghz radio frequency
Receipts-bridge framework is transferred to 32bit main control unit system；
Step S5,32bit main control unit system will send CANOPEN instruction to each driver, carry out based on position ring and speed
Spend the control of ring.
8. tow-armed robot system of subject according to claim 1, which is characterized in that the long-distance video control system
Control method it is as follows:
Step S1,700 line cameras or 720p camera is selected to obtain information；
Step S2, A/V is handled by video system；
Step S3, signal is traveled to by transmitting antenna by 5.8Ghz radio-frequency transmissions-bridge framework；
Step S4, after receiving antenna receives the signal that transmitting antenna is propagated, pass through 5.8Ghz radio frequency reception-bridge framework and transmit
It is monitored to video system, while using LCD monitor.
9. a kind of electrical system using any one of the claim 1-8 tow-armed robot system of subject, which is characterized in that institute
The electric control system stated includes remote operating layer, master control layer, drive control layer；Between the remote operating layer and drive control layer
Connection is established by master control layer；The remote operating layer is equipped with remote operating computer, visual feedback computer；The master control
Preparative layer is equipped with robot central controller and mobile platform central controller；The exterior layer includes hand motor, joint
Controller and neck motor.
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| CN201810661813.3A CN109465803A (en) | 2018-06-25 | 2018-06-25 | Tow-armed robot system of subject |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814432A (en) * | 2018-12-18 | 2019-05-28 | 航天时代电子技术股份有限公司 | A kind of the communication frame generating method and communication means of human body servo antrol |
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