CN109946974A - A kind of control system of electric drive quadruped robot - Google Patents
A kind of control system of electric drive quadruped robot Download PDFInfo
- Publication number
- CN109946974A CN109946974A CN201910294462.1A CN201910294462A CN109946974A CN 109946974 A CN109946974 A CN 109946974A CN 201910294462 A CN201910294462 A CN 201910294462A CN 109946974 A CN109946974 A CN 109946974A
- Authority
- CN
- China
- Prior art keywords
- driver
- personal computer
- industrial personal
- encoder
- joint
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of control system of electric drive quadruped robot, including host computer, industrial personal computer, driver and encoder, industrial personal computer is connect with host computer carries out transmission data, and industrial personal computer and encoder are connect with driver；Encoder is fixed on the output end of joint motor, for detecting the angle of joint motor rotation, the reduction ratio of the umber of pulse and joint speed reducer that are measured by encoder obtains the rotation angle in joint, umber of pulse is uploaded to driver by encoder, filtered pulse value is uploaded to industrial personal computer again by driver, then industrial personal computer is run, it obtains the output torque in each joint of robot and is converted into current value and pass to driver, driver realizes the given torque of motor output by built-in electric current loop, realizes and optimizes to the flexible optimization of single leg and collision energy.The present invention reduces the energy losses that single leg contacts to earth, and improve the whole real-time of hardware system and the high-speed motion of reliability and quadruped robot, are able to maintain good dynamic stability and energy-efficient.
Description
Technical field
The present invention relates to a kind of control systems for electric drive quadruped robot, belong to the control of electric drive quadruped robot
Technical field.
Background technique
Leg legged type robot is always the more popular research field of mobile robot, and leg legged type robot is in dynamic stability
Property and complicated landform adaptability in terms of all surpass wheeled robot.A hot topic of the electrically-driven robot as leg legged type robot
Branch even more has the characteristics that above superior.Electrically-driven robot refers to the key using torque motor as driving joint motions
The robot of unit, wherein being divided into straight drive mode, pseudo direct-drive mode and SEA mode again.
The output shaft of motor is directly connected by the straight electrically-driven robot for driving mode with joint link lever, this driving method control
Effect processed is best, but the requirement to torque motor is relatively high, and high torque is also not achieved in the pure output torque of current torque motor
Performance, and performance is higher means that cost is higher.SEA mode refers between torque motor and connecting rod plus spring arrangement, benefit
Mitigate the performance high request to torque motor with the energy storage characteristic of spring, but this mode kinetic model is complicated, it is practical
Control effect is extremely difficult to perfect condition.Pseudo direct-drive mode refers between motor and connecting rod plus the scheme of first stage decelerator, this
Sample can reach the control effect directly driven, and can also amplify the output torque of motor.
Single leg structure (present invention in used) of electric drive quadruped robot two degrees of freedom pseudo direct-drive mode as shown in Figure 1,
Including big leg joint 4, thick link 5, calf joint 6 and shank link 7.Electric drive quadruped robot entirety simulation model structure
As shown in Fig. 2, including single leg of trunk 1 and four Three Degree Of Freedoms, trunk 1 connects hip connecting rod 3 by hip joint 2, and crotch connects
Bar 3, big leg joint 4, thick link 5, calf joint 6 and shank link 7 are sequentially connected, and vola is arranged in the bottom of shank link 7
Sensor 8.Plantar pressure sensors 8 are used to detect the critical component whether robot list leg foot end contacts to earth.Big leg joint 4 and shank close
Section 6 is all made of torque motor and retarder, and retarder is primary planet retarder, and motor passes through primary planet retarder band
It moves big leg joint 4 or calf joint 6 rotates.The corresponding positive kinematics and inverse kinematics of single leg it can be concluded that.Positive kinematics are
Be by encoder transmission come motor angle show that entire single leg foot end is located at the position in coordinate system shown in Fig. 1.
It is made a concrete analysis of below.
Base coordinate system according to figure 1 and each joint link lever parameter, can derive positive fortune of the sufficient end relative to pedestal
Dynamic equation is as follows:
Known list leg foot end position, can anti-solution acquire the joint angle of two degrees of freedom list leg:
To two degrees of freedom list leg derivation, the Jacobian matrix of single leg can be obtained:
It is above it is various in required angle, θ1, θ2For the joint angle of big leg joint 4 and calf joint 6 corresponding in Fig. 1, x, z
For position of the sufficient end in pedestal mark.l1、l2The respectively length of thick link 5 and shank link 7.l12It is arrived for Fig. 1 mesopodium end
The linear distance of basis coordinates system initial point.
In quadruped robot field, the control system of real-time builds always quadruped robot field and compares asking for core
Topic.Currently have many Real-time System schemes, as Massachusetts Institute Technology Cheetah2 be NI company provide control
Device processed by RS-422 communicate based on the real-time system built, the StarlETH of Swiss Zurich Federal Institute of Technology using
Real-time System etc. based on ROS robot system, or using the mature scheme of company, or taken based on robot system
It builds.But due to use be not profession Real-time System, the Real-time System of current electronic leg legged type robot
It can show generally, still there is the aspect of promotion.
In robot field, the energy utilization efficiency of hoisting machine people is always a urgent problem needed to be solved.This is asked
Topic is concentrated mainly on energy-optimised, the sufficient end track during sufficient end is contacted to earth and the choosing of four-footed gait specific to electrically-driven robot
It selects.
Summary of the invention
The present invention is directed to existing electric drive quadruped robot existing problem in terms of real-time and high efficiency control, mentions
For a kind of control system of accurate electric drive quadruped robot feasible, real-time is high.
The control system of electric drive quadruped robot of the invention, including big leg joint and calf joint, big leg joint and
Calf joint is formed by connecting by motor and retarder, which uses following technical scheme:
The control system, including host computer, industrial personal computer, driver and encoder, industrial personal computer connect with host computer and are passed
Transmission of data, industrial personal computer and encoder are connect with driver；Encoder is fixed on the output end of joint motor, for detecting joint
The angle of motor rotation, the reduction ratio of the umber of pulse and joint speed reducer that are measured by encoder obtain the rotation angle in joint,
Umber of pulse is uploaded to driver by encoder, and filtered pulse value is uploaded to industrial personal computer again by driver, then industrial personal computer
Operation obtains the output torque in each joint of robot and is converted into current value and pass to driver, driver passes through built-in electricity
It flows ring and realizes the given torque of motor output, realize and the flexible optimization of single leg and collision energy are optimized.
The interactive interface of host computer realization people and robot.It, can be by host computer to machine in robot kinematics
Device human hair control instruction, for example, advance, jump etc..
The industrial personal computer operation control algolithm, which is realized, optimizes the flexible optimization of single leg and collision energy, the control algolithm,
It contacts to earth collision process optimization and four-footed running track and gait optimization including single leg；The collision of contacting to earth of single leg is one continuous dynamic
Mechanics solution procedure, using converting stochastic linear problem for continuously linear problem and acquire parametric results in conjunction with Gaussian Profile,
Parameter expression after optimization is as follows:
Above formula is basic lagrangian dynamics formula, wherein M (q) is Lagrangian mass matrix,For quality plus
Speed, τ are output torque, FgFor bonding force, last expression formula is acquired in conjunction with Gaussian Profile:
E [min (h, bG)2]=h2-σ2(h+b)f(h)+(σ2+b2-h2)F(h)
E therein indicates desired value, h, bGIt is all scalar parameter, σ is used to describe the average value point of the parameter of this process
Cloth and dispersion degree；F (h) is acquired by following formula:
Wherein, f (t) is expectation function,Indicate error function,
The collision energy loss result that contacts to earth just is obtained above；
Sufficient end track is found out by the utilization to Bernstein polynomial, expression formula is as follows:
Wherein P1(t), P2(t), P3(t) it is sat for the x relative to base coordinate system of the three parts segmentation planning of geometric locus, z
Mark, t indicate the time of current system；a0~a14Indicate the x relative to base coordinate system, z of the preset of the sufficient end curve of planning
Coordinate；
By combining contact to earth collision optimization and sufficient end geometric locus to show that the diagonal gait that goes at express speed, two diagonal single legs contact to earth
And another two diagonal single legs empty.
The industrial personal computer carries out transmission data by ICP/IP protocol with host computer, and the industrial personal computer passes through with driver
CAN bus connection.The encoder is connect by signal wire with driver.
The calculation formula of the rotation angle, θ of the joint of robot isNi is what encoder detected
Umber of pulse, De are the reduction ratio of robot joint speed reducer.
The present invention reduces the energy loss that single leg contacts to earth by the improvement of control algolithm, improves the entirety of hardware system
The high-speed motion of real-time and reliability and quadruped robot, control algolithm mainly realize the high-speed motion of quadruped robot,
The result of emulation indicates the average speed that control algolithm of the invention can make quadruped robot reach 18km/h, and can protect
Hold good dynamic stability and energy-efficient.
Detailed description of the invention
Fig. 1 is single leg structural kinetics modeling schematic diagram of existing electric drive quadruped robot.
Fig. 2 is the simulation model schematic diagram of existing electric drive quadruped robot used.
Fig. 3 is the principle schematic diagram of control system in the present invention.
Fig. 4 is the track schematic diagram that control algolithm is planned in the present invention.
Fig. 5 is diagonal (Flying-trot) the gait schematic diagram that goes at express speed.
In figure: 1. trunks, 2. hip joints, 3. crotch's connecting rods, 4. big leg joints, 5. thick links, 6. calf joints, 7. is small
Leg connecting rod, 8. plantar pressure sensors.
Specific embodiment
Control system for electric drive quadruped robot of the invention is to be directed to two degrees of freedom list leg structure shown in Fig. 1,
Such as Fig. 3, the control system, including host computer, industrial personal computer, driver and encoder, industrial personal computer and host computer are assisted by TCP/IP
View carries out transmission data, and industrial personal computer is connect with driver by CAN bus, and encoder is connected by dedicated signal lines and driver
It connects, encoder is fixed on motor output end.Encoder is used to detect the angle of motor rotation, the umber of pulse measured by encoder
It can be obtained by leg foot formula machine shown in FIG. 1 with the reduction ratio De of the primary planet retarder in known Fig. 1 at calf joint
Umber of pulse is uploaded to driver by the thigh of device people and the rotation angle of calf joint, encoder, and driver again will be by filtering
Pulse value by CAN communication bus shown in Fig. 3 be uploaded to industrial personal computer realize data acquisition overall process, then industrial personal computer transport
Control algolithm in the row present invention, obtains the output torque for needing each joint of leg legged type robot, is converted into current value, pass through
CAN communication passes to driver, and driver realizes the given torque of motor output by built-in electric current loop.
Industrial personal computer is using the industrial personal computer of the KEEX-5000 series of Kontron company and public by PCIE slot expansion PEAK
The CAN card of department realizes the CAN communication between industrial personal computer and driver, by 12V DC battery individually to industrial personal computer and radiation air
Fan power supply, the 24V battery series connection separately provided by grignard reach direct current general supply of the 48V as single leg.Industrial personal computer refers to power supply
Show lamp and CAN communication indicator light.As shown in figure 3, industrial personal computer and single big leg joint 4 of leg and two drivers of calf joint 6
Between connected by CAN bus, and pass through the transmission of the upper-layer protocol CANOpen protocol realization data encoding of CAN and parsing.Work
The system of control machine operation is the QNX real-time system by blackberry, blueberry company, and QNX system has the characteristics that high real-time and reliability, special
It Shi He not robot field.It can be realized by the control algolithm code in its distinctive QNX Momentic software translating present invention
Flexible optimization and collision energy optimization to single leg.
Encoder uses the relative type motor encoder of Reinshaw model RMB20IC13BC10, and precision 8192, i.e. motor are every
It turning around, encoder will collect 8192 pulses, and the type encoder accuracy is high, and it is small in size, it is very suitable to the inspection of motor angle
It surveys.The umber of pulse detected by encoder, utilizes formula:The rotation angle, θ in available joint1,
θ2, Ni is the umber of pulse that encoder detects, De is the reduction ratio of primary planet retarder.Then the control algolithm in the present invention
It calls positive kinematics to calculate sufficient end and calculates instantaneous speed relative to the position of basis coordinates system and by known control frequency
Degree.
Above system shows good real-time performance and high reliability in practical single leg movement.
Control algolithm in the present invention includes that single leg contacts to earth collision process optimization and four-footed running track and gait optimization
The Flying-trot gait motion of quadruped robot (jumping of single leg).
The collision of contacting to earth of single leg is a continuous Dynamic solving process, but the input parameter obtained in actual environment is not
It is enough to support to find out acceptable result.So using converting stochastic linear problem for continuously linear problem and combining Gauss
Distribution, can be in the hope of a more accurate parametric results.Parameter expression after optimization is as follows:
Above formula is basic lagrangian dynamics formula, wherein M (q) is Lagrangian mass matrix,For quality plus
Speed, τ are output torque, FgLast expression formula can be acquired in conjunction with Gaussian Profile for bonding force:
E [min (h, bG)2]=h2-σ2(h+b)f(h)+(σ2+b2-h2)F(h)
E therein indicates desired value, h, bGIt is all scalar parameter, σ is used to describe the average value point of the parameter of this process
Cloth and dispersion degree.F (h) is acquired by following formula:
Wherein, f (t) is expectation function,Indicate error function.A lesser touching can be obtained above
Ground collision energy loss result.
Such as Fig. 4, a preferably sufficient end track, track expression formula can be found out by the utilization to Bernstein polynomial
It is as follows:
Wherein P1(t), P2(t), P3(t) it is sat for the x relative to base coordinate system of the three parts segmentation planning of geometric locus, z
Mark, t indicate the time of current system.a0~a14Indicate the x relative to base coordinate system, z of the preset of the sufficient end curve of planning
Coordinate.
Such as Fig. 5, gait pass through combine contact to earth collision optimization and geometric locus obtain it is a kind of " go at express speed it is diagonal " gait, that is,
Two diagonal single legs contact to earth, and another two diagonal single legs empty.Black circles in Fig. 5 indicate corresponding Three Degree Of Freedom list
Leg contacts to earth, and white circle represents corresponding Three Degree Of Freedom list leg and empties.What whole figure indicated is the list of a cycle quadruped robot
Leg contacts to earth variation.
It is the whole of specific control algolithm above.This algorithm mainly realizes the high-speed motion of quadruped robot, imitates
Genuine result indicates the average speed that the control algolithm of aforementioned present invention can make quadruped robot reach 18km/h, and can
Keep good dynamic stability and energy-efficient.
Claims (5)
1. a kind of control system of electric drive quadruped robot, it is characterized in that: including host computer, industrial personal computer, driver and coding
Device, industrial personal computer is connect with host computer carries out transmission data, and industrial personal computer and encoder are connect with driver；Encoder is fixed on pass
The output end for saving motor, for detecting the angle of joint motor rotation, the umber of pulse measured by encoder and joint speed reducer
Reduction ratio obtain the rotation angle in joint, umber of pulse is uploaded to driver by encoder, and driver is again by filtered arteries and veins
Punching value is uploaded to industrial personal computer, and then industrial personal computer is run, and obtains the output torque in each joint of robot and is converted into current value transmitting
To driver, driver realizes the given torque of motor output by built-in electric current loop, realize flexible optimization to single leg and
Collision energy optimization.
2. the control system of electric drive quadruped robot according to claim 1, it is characterized in that: industrial personal computer operation control
Collision process optimization that algorithm realization processed optimizes the flexibility of single leg and collision energy optimization, the control algolithm, including single leg contact to earth
And four-footed running track and gait optimization；The collision of contacting to earth of single leg is a continuous Dynamic solving process, using will be continuous
Linear problem is converted into stochastic linear problem and acquires parametric results in conjunction with Gaussian Profile, and the parameter expression after optimization is as follows:
Above formula is basic lagrangian dynamics formula, wherein M (q) is Lagrangian mass matrix,For mass acceleration,
τ is output torque, FgFor bonding force, last expression formula is acquired in conjunction with Gaussian Profile:
E [min (h, bG)2]=h2-σ2(h+b)f(h)+(σ2+b2-h2)F(h)
E therein indicates desired value, h, bGAll be scalar parameter, σ be used to describe the parameter of this process average Distribution value and from
The degree of dissipating；F (h) is acquired by following formula:
Wherein, f (t) is expectation function,Indicate error function,
The collision energy loss result that contacts to earth just is obtained above；
Sufficient end track is found out by the utilization to Bernstein polynomial, expression formula is as follows:
Wherein P1(t), P2(t), P3It (t) is the x relative to base coordinate system of the three parts segmentation planning of geometric locus, z coordinate, t
Indicate the time of current system；a0~a14Indicate the x relative to base coordinate system of the preset of the sufficient end curve of planning, z coordinate；
Collision optimization is contacted to earth and sufficient end geometric locus obtains the diagonal gait that goes at express speed by combining, and two diagonal single legs contact to earth and another
Two diagonal single legs empty.
3. the control system of electric drive quadruped robot according to claim 1, it is characterized in that: the industrial personal computer with it is upper
Machine carries out transmission data by ICP/IP protocol.
4. the control system of electric drive quadruped robot according to claim 1, it is characterized in that: the industrial personal computer and driving
Device is connected by CAN bus.The encoder is connect by signal wire with driver.
5. the control system of electric drive quadruped robot according to claim 1, it is characterized in that: the joint of robot
Rotation angle, θ calculation formula beNi is the umber of pulse that encoder detects, De is joint of robot deceleration
The reduction ratio of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294462.1A CN109946974B (en) | 2019-04-12 | 2019-04-12 | Control system of electrically-driven quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910294462.1A CN109946974B (en) | 2019-04-12 | 2019-04-12 | Control system of electrically-driven quadruped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109946974A true CN109946974A (en) | 2019-06-28 |
| CN109946974B CN109946974B (en) | 2022-07-01 |
Family
ID=67014915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910294462.1A Active CN109946974B (en) | 2019-04-12 | 2019-04-12 | Control system of electrically-driven quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109946974B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412921A (en) * | 2019-08-09 | 2019-11-05 | 山东大学 | Robot list leg high real-time control system based on EtherCAT |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
| CN111857173A (en) * | 2020-08-17 | 2020-10-30 | 常州工程职业技术学院 | Jumping gait planning control system and method for quadruped robot |
| CN111890363A (en) * | 2020-07-27 | 2020-11-06 | 四川大学 | Mechanical arm motion planning method based on rapid self-adaptive gradient neural network algorithm |
| CN113110304A (en) * | 2021-03-13 | 2021-07-13 | 无锡信捷电气股份有限公司 | Multi-channel sport |
| CN113377113A (en) * | 2021-07-02 | 2021-09-10 | 北方工业大学 | Foot end trajectory planning method and system of foot type robot and control method and system |
| CN114454983A (en) * | 2022-03-02 | 2022-05-10 | 北京理工大学 | Turning control method and system for quadruped robot |
| CN114488808A (en) * | 2022-01-24 | 2022-05-13 | 新基线(江苏)科技有限公司 | Real-time correction method for model parameters of four-legged robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4548135B2 (en) * | 2005-02-03 | 2010-09-22 | トヨタ自動車株式会社 | Legged robot and its control method |
| CN103676797A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Modularized sub-action multi-legged robot motion controller and control method thereof |
| US20140100697A1 (en) * | 2010-03-22 | 2014-04-10 | John R. Goulding | Operating an in-line legged robot vehicle in ballistic flight |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| CN108710298A (en) * | 2018-05-23 | 2018-10-26 | 中国海洋大学 | Low energy consumption posture analysis method based on sufficient formula bio-robot under quiet vertical state |
-
2019
- 2019-04-12 CN CN201910294462.1A patent/CN109946974B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4548135B2 (en) * | 2005-02-03 | 2010-09-22 | トヨタ自動車株式会社 | Legged robot and its control method |
| US20140100697A1 (en) * | 2010-03-22 | 2014-04-10 | John R. Goulding | Operating an in-line legged robot vehicle in ballistic flight |
| CN103676797A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Modularized sub-action multi-legged robot motion controller and control method thereof |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| CN108710298A (en) * | 2018-05-23 | 2018-10-26 | 中国海洋大学 | Low energy consumption posture analysis method based on sufficient formula bio-robot under quiet vertical state |
Non-Patent Citations (4)
| Title |
|---|
| TIANFA LI ETC.: "An Energy Efficient Motion Controller Based on SLCP for the Electrically Actuated Quadruped Robot", 《JOURNAL OF BIONIC ENGINEERING》 * |
| YUVAL TASSA ETC.: "Stochastic Complementarity for Local Control of Dscontinuous Dynamics", 《ROBOTICS: SCIENCE AND SYSTEMS VI》 * |
| 丛恩博: "基于自由步态的六足机器人崎岖路面行走控制方法研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 史延雷 等: "主—被动变刚度柔性单腿建模及能耗分析", 《计算机集成制造系统》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412921A (en) * | 2019-08-09 | 2019-11-05 | 山东大学 | Robot list leg high real-time control system based on EtherCAT |
| CN110412921B (en) * | 2019-08-09 | 2021-07-27 | 山东大学 | Robot single-leg high-real-time control system based on EtherCAT |
| CN111332382A (en) * | 2020-04-01 | 2020-06-26 | 安徽工业大学 | Horizontal joint quadruped robot |
| CN111890363A (en) * | 2020-07-27 | 2020-11-06 | 四川大学 | Mechanical arm motion planning method based on rapid self-adaptive gradient neural network algorithm |
| CN111857173A (en) * | 2020-08-17 | 2020-10-30 | 常州工程职业技术学院 | Jumping gait planning control system and method for quadruped robot |
| CN113110304A (en) * | 2021-03-13 | 2021-07-13 | 无锡信捷电气股份有限公司 | Multi-channel sport |
| CN113377113A (en) * | 2021-07-02 | 2021-09-10 | 北方工业大学 | Foot end trajectory planning method and system of foot type robot and control method and system |
| CN114488808A (en) * | 2022-01-24 | 2022-05-13 | 新基线(江苏)科技有限公司 | Real-time correction method for model parameters of four-legged robot |
| CN114454983A (en) * | 2022-03-02 | 2022-05-10 | 北京理工大学 | Turning control method and system for quadruped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109946974B (en) | 2022-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109946974A (en) | A kind of control system of electric drive quadruped robot | |
| CN100435765C (en) | Control system of imbedded type intelligent wheel chair and its method | |
| CN104647331B (en) | A kind of principal and subordinate is servo-actuated teaching industrial robot system | |
| CN103558786B (en) | Based on the hand function healing robot human-computer interactive control system embedding Android mobile terminal and FPGA | |
| CN102922508B (en) | Exoskeleton robot system for reloading batteries of electric vehicle | |
| CN103962833B (en) | A kind of hi-Fix automatic screw-driving system | |
| CN106313012B (en) | Aid in and strengthen the device of human strength | |
| CN102637036A (en) | Combined type bionic quadruped robot controller | |
| CN201562158U (en) | Multi-robot synchronous control system | |
| CN104856842B (en) | Foot wheel driving paraplegia walking aided external skeleton | |
| CN106880454B (en) | A kind of robot nursing bed control system and method | |
| CN203665548U (en) | Wireless truss mechanical arm | |
| CN106238255A (en) | A kind of spray robot Dual-encoder redundant system | |
| CN113942012A (en) | Mechanical arm joint method, system, computer and readable storage medium | |
| CN204819543U (en) | Centralized control formula multirobot motion control system | |
| CN206484559U (en) | Robot teaching system based on three-dimensional force sensor | |
| CN206154300U (en) | Device of human strength is assisted and strengthened | |
| CN207402786U (en) | A kind of robot arm posture mapping control apparatus | |
| CN106054894B (en) | A kind of robot adjoint system, adjoint method and robot car | |
| CN201208992Y (en) | Control system for two feet robot walking mechanism | |
| CN108762071B (en) | Constant force grinding control system and method | |
| CN206296922U (en) | Robot teaching system based on human synovial sensor | |
| CN102223274B (en) | Chemical safety monitoring system based on mixed field bus technology | |
| CN101879720A (en) | Control system of reconfigurable modular robot | |
| CN108555779A (en) | A kind of polished machine contact wheel of robot abrasive band polishing system makes a concession method automatically |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |