CN113084816A - Novel intelligent master-slave manipulator force feedback control method and system - Google Patents
Novel intelligent master-slave manipulator force feedback control method and system Download PDFInfo
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- CN113084816A CN113084816A CN202110400474.5A CN202110400474A CN113084816A CN 113084816 A CN113084816 A CN 113084816A CN 202110400474 A CN202110400474 A CN 202110400474A CN 113084816 A CN113084816 A CN 113084816A
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
Abstract
The invention discloses a novel intelligent master-slave manipulator force feedback control method and a system, wherein the method comprises the following steps: the method comprises the steps of obtaining the output torque of the driving motors of the driven arm, calculating the load feedback output torque of each driving motor of the driving arm required by the load of the driven arm according to a statics principle, controlling the load feedback output voltage of each driving motor of the driving arm according to the load feedback output torque of each driving motor of the driving arm, and achieving load feedback of the driven arm. The novel intelligent master-slave manipulator force feedback control method and system have the advantages that: real-time statics is used for resolving, and the effect of load feedback of the driven arm without mechanical balance is achieved; and under the condition that the tail end of the driven arm is not provided with a force sensor, calculating the load mass through the torque of a motor of the driven arm.
Description
Technical Field
The invention belongs to the technical field of mechanical control of nuclear equipment, and particularly relates to a novel intelligent master-slave manipulator force feedback control method and system.
Background
In the nuclear operating equipment, a manipulator driven arm is required to operate radioactive objects remotely, personnel can operate in a safe area through the manipulator penetrating piece and can sense the operating state of the manipulator driven arm constantly, namely the personnel can operate the driving arm easily when the driven arm is not loaded, and the personnel can sense the actual load when the driven arm is loaded so that the personnel can really sense the operating objects.
In a traditional mechanical arm control method, a designer finds a fixed balance pose through stress analysis, and then balances the gravity moment of a mechanical arm in a swinging process in a mechanical balance mode, for example, a weight hammer type adopting a lever principle realizes comprehensive moment balance by utilizing various springs and mechanical mechanisms with better linearity. In practical application scenarios, due to machining errors and gaps of gears on a transmission chain, a mechanical balance system inevitably generates deviation, and meanwhile, the deviation can be accumulated joint by joint through a serial mechanical arm structure. In addition, since the mechanical balance mechanism cannot be modified after the design and manufacture are completed, if the balance pose is changed, the mechanical mechanism needs to be redesigned, and the new balance pose is still fixed, the gravity moment of the mechanical arm in the teleoperation process cannot be balanced in real time, so that the effect of easily operating the master arm is difficult to achieve, and an operator cannot accurately sense the feedback force of the slave arm. Because various sensors are easy to lose efficacy in an irradiation environment, a force sense sensor cannot be mounted on a driven arm in a hot chamber, and when the driven arm carries a load or collides with the environment, a control system cannot obtain interaction force information between the driven arm and the outside, so that the load force or the collision force of the driven arm is difficult to react on a driving arm.
Disclosure of Invention
The invention aims to solve the technical problem of providing a novel intelligent master-slave manipulator force feedback control method and system aiming at the defects in the prior art, wherein the method is a control method of friendly operation force sense of the master-slave manipulator based on statics calculation.
The technical scheme adopted for solving the technical problem of the invention is to provide a novel intelligent master-slave manipulator force feedback control method, wherein the manipulator comprises a master arm and a slave arm connected with the master arm, the master arm and the slave arm are isomorphic series-connection type articulated mechanical arms, the manipulator comprises a mechanical transmission arm and a corresponding electric control device, the mechanical transmission arm and the corresponding electric control device have a plurality of degrees of freedom, and each degree of freedom is respectively provided with a corresponding driving motor and a corresponding encoder for driving the mechanical transmission arm to move and monitoring each movement posture. In addition, a torque sensor is arranged between the mechanical transmission arm and the servo motor of the driving arm and used for monitoring the torque state of each degree of freedom. The mechanical transmission arm, the torque sensor (driving arm end), the servo motor and the encoder are sequentially connected in series, and the torque sensor (driving arm end), the servo motor and the encoder are arranged in a non-radioactive environment. The method comprises the following steps:
the method comprises the steps of obtaining the output torque of the driving motors of the driven arm, calculating the load feedback output torque of each driving motor of the driving arm required by the load of the driven arm according to a statics principle, controlling the load feedback output voltage of each driving motor of the driving arm according to the load feedback output torque of each driving motor of the driving arm, and achieving load feedback of the driven arm.
Preferably, the novel intelligent master-slave manipulator force feedback control method further comprises the following steps:
and acquiring the attitude of the driving arm in any time state, wherein the step of calculating the load of the driven arm further comprises the step of calculating the load of the driven arm by combining the acquired attitude of the driving arm.
Preferably, the algorithm used to calculate the load of the driven arm is a load discrimination algorithm.
Preferably, the novel intelligent master-slave manipulator force feedback control method further comprises the following steps:
the method comprises the steps of obtaining the attitude of the active arm in any time state, calculating the gravity compensation output torque of the driving motor of the active arm required by gravity compensation in real time, and controlling the gravity compensation output voltage of each driving motor of the active arm according to the gravity compensation output torque of the driving motor of the active arm to realize the gravity compensation of the active arm.
Preferably, the posture of the master arm at any time is a joint angle of each joint of the master arm at any time.
Preferably, the algorithm for calculating the gravity compensation output torque of the driving motor of the driving arm required for gravity compensation in real time is a gravity compensation algorithm.
Preferably, the novel intelligent master-slave manipulator force feedback control method further comprises the following steps: and calculating the force rendering compensation output torque of the driving motor of the active arm required by force rendering in real time according to the attitude of the active arm at any time, and controlling the force rendering compensation output voltage of each driving motor of the active arm according to the force rendering compensation output torque of the driving motor of the active arm to realize the force rendering compensation of the active arm.
Preferably, the algorithm for calculating the force rendering compensation output torque of the driving motor of the driving arm required for the force rendering in real time is a force rendering algorithm.
The invention also provides a system used in the novel intelligent master-slave manipulator force feedback control method, which comprises the following steps:
a manipulator, comprising:
the system comprises a driving arm and a driven arm connected with the driving arm, wherein the driving arm is connected with an industrial personal computer, and the driven arm is connected with the industrial personal computer;
the industrial computer includes:
a motor torque obtaining unit for obtaining the output torque of the driving motor of the driven arm and sending the output torque to a computing unit of an upper computer,
the driving unit is used for controlling the load feedback output voltage of each driving motor of the driving arm according to the received load feedback output torque of each driving motor of the driving arm so as to realize the load feedback of the driven arm;
the host computer includes:
and the calculating unit is used for calculating the load of the driven arm according to the output torque of the driving motor of the received driven arm, calculating the load feedback output torque of each driving motor of the driving arm required by the load of the driven arm according to the statics principle, and sending the load feedback output torque to the driving unit of the industrial personal computer.
Preferably, the industrial computer further comprises:
the attitude acquisition unit is used for acquiring the attitude of the master arm in any time state and sending the attitude to the calculation unit of the upper computer;
the computing unit of the upper computer is also used for computing the gravity compensation output torque of the driving motor of the driving arm required by gravity compensation in real time according to the received attitude of the driving arm in any time state, and sending the gravity compensation output torque to the driving unit of the industrial personal computer;
and the driving unit of the industrial personal computer is also used for controlling the gravity compensation output voltage of each driving motor of the active arm according to the received gravity compensation output torque of the driving motor of the active arm so as to realize the gravity compensation of the active arm.
Preferably, the computing unit of the upper computer is further configured to compute a force rendering compensation output torque of a driving motor of the master arm required for force rendering in real time according to the received attitude of the master arm in any time state, and send the force rendering compensation output torque to the driving unit of the industrial personal computer;
and the driving unit of the industrial personal computer is also used for controlling the force rendering compensation output voltage of each driving motor of the active arm according to the received force rendering compensation output torque of the driving motor of the active arm, so as to realize the force rendering compensation of the active arm.
Preferably, the computing unit of the upper computer is further configured to compute the load of the slave arm according to the received output torque of the drive motor of the slave arm in combination with the attitude of the master arm at any time.
The novel intelligent master-slave manipulator force feedback control method and system have the advantages that: real-time statics is used for resolving, and the effect of load feedback of the driven arm without mechanical balance is achieved; and under the condition that the tail end of the driven arm is not provided with a force sensor, calculating the load mass through the torque of a motor of the driven arm.
Drawings
Fig. 1 is a flowchart of a novel intelligent master-slave manipulator force feedback control method in embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a system used in the novel intelligent master-slave manipulator force feedback control method in embodiment 1 of the present invention;
fig. 3 is a flowchart of a novel intelligent master-slave manipulator force feedback control method in embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of a system used in the novel intelligent master-slave manipulator force feedback control method in embodiment 2 of the present invention;
figure 5 is a schematic view of the master arm/slave arm assembly of the present invention.
In the figure: 1-an active arm; 2-a driven arm; 3-an industrial personal computer; 4-an upper computer.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Example 1
As shown in fig. 1, the present embodiment provides a novel intelligent master-slave manipulator force feedback control method, where the manipulator includes a master arm 1 and a slave arm 2 connected to the master arm 1, and the master arm 1 and the slave arm 2 are isomorphic series-connection articulated manipulators, and include a mechanical transmission arm and a corresponding electric control device, and have multiple degrees of freedom, and each degree of freedom is respectively provided with a corresponding driving motor and an encoder for driving the mechanical transmission arm to move and monitoring each movement posture. In addition, a torque sensor is arranged between the mechanical transmission arm and the servo motor of the driving arm 1 and used for monitoring the torque state of each degree of freedom. The mechanical transmission arm, the torque sensor (the end of the main arm 1), the servo motor and the encoder are sequentially connected in series, and the torque sensor (the end of the main arm 1), the servo motor and the encoder are arranged in a non-radioactive environment.
The method comprises the following steps:
s101 acquires the output torque of the drive motor of the driven arm 2.
S102, calculating the load of the driven arm 2, and calculating the load feedback output torque of each driving motor of the driving arm 1 required by the load of the driven arm 2 according to the statics principle.
S103, controlling the load feedback output voltage of each driving motor of the driving arm 1 according to the load feedback output torque of each driving motor of the driving arm 1, and realizing the load feedback of the driven arm 2.
As shown in fig. 2, this embodiment further provides a system used in the novel intelligent master-slave manipulator force feedback control method, including:
a manipulator, comprising:
the device comprises a driving arm 1 and a driven arm 2 connected with the driving arm 1, wherein the driving arm 1 is connected with an industrial personal computer 3, and the driven arm 2 is connected with the industrial personal computer 3;
a motor torque acquisition unit for acquiring the output torque of the driving motor of the driven arm 2 and sending the output torque to the calculation unit of the upper computer 4,
the driving unit is used for controlling the load feedback output voltage of each driving motor of the driving arm 1 according to the received load feedback output torque of each driving motor of the driving arm 1, so as to realize the load feedback of the driven arm 2;
and the calculating unit is used for calculating the load of the driven arm 2 according to the output torque of the driving motor of the received driven arm 2, calculating the load feedback output torque of each driving motor of the driving arm 1 required by the load of the driven arm 2 according to the statics principle, and sending the load feedback output torque to the driving unit of the industrial personal computer 3.
The novel intelligent master-slave manipulator force feedback control method and system of the embodiment have the beneficial effects that: real-time statics is used for resolving, and the effect of load feedback of the driven arm 2 without mechanical balance is achieved; and under the condition that no force sensor is arranged at the tail end of the driven arm 2, the load mass is calculated through the motor torque of the driven arm 2.
Example 2
As shown in fig. 3, the present embodiment provides a novel intelligent master-slave manipulator force feedback control method, where the manipulator includes a master arm 1 and a slave arm 2 connected to the master arm 1, and the master arm 1 and the slave arm 2 are isomorphic series-connection articulated manipulators, and include a mechanical transmission arm and a corresponding electric control device, and have multiple degrees of freedom, and each degree of freedom is respectively provided with a corresponding driving motor and an encoder for driving the mechanical transmission arm to move and monitoring each movement posture. In addition, a torque sensor is arranged between the mechanical transmission arm and the servo motor of the driving arm 1 and used for monitoring the torque state of each degree of freedom. The mechanical transmission arm, the torque sensor (the end of the main arm 1), the servo motor and the encoder are sequentially connected in series, and the torque sensor (the end of the main arm 1), the servo motor and the encoder are arranged in a non-radioactive environment. The method comprises the following steps:
s201, obtaining the output torque of the driving motor of the driven arm 2, obtaining the attitude of the driving arm 1 at any time, calculating the load of the driven arm 2, calculating the load feedback output torque of each driving motor of the driving arm 1 required by the load of the driven arm 2 according to the statics principle, and controlling the load feedback output voltage of each driving motor of the driving arm 1 according to the load feedback output torque of each driving motor of the driving arm 1 to realize the load feedback of the driven arm 2.
S202 calculates a gravity compensation output torque of the driving motor of the driving arm 1 required for gravity compensation in real time according to the attitude of the driving arm 1 at any time, and controls a gravity compensation output voltage of each driving motor of the driving arm 1 according to the gravity compensation output torque of the driving motor of the driving arm 1, thereby achieving gravity compensation of the driving arm 1.
S203, calculating the force rendering compensation output torque of the driving motor of the driving arm 1 required by force rendering in real time according to the attitude of the driving arm 1 in any time state, and controlling the force rendering compensation output voltage of each driving motor of the driving arm 1 according to the force rendering compensation output torque of the driving motor of the driving arm 1 to realize the force rendering compensation of the driving arm 1.
The novel intelligent master-slave manipulator force feedback control method in the embodiment is a control method of friendly operation force sense of the master-slave manipulator based on statics calculation.
Preferably, the algorithm used to calculate the load of the driven arm 2 is a load discrimination algorithm.
Preferably, the posture of the master arm 1 in any temporal state is a joint angle of each joint of the master arm 1 in any temporal state.
Preferably, the algorithm for calculating the gravity compensation output torque of the drive motor of the active arm 1 required for gravity compensation in real time is a gravity compensation algorithm.
Preferably, the algorithm for calculating the force rendering compensation output torque of the driving motor of the driving arm 1 required for the force rendering in real time is a force rendering algorithm.
As shown in fig. 4, the present embodiment provides a system for a novel intelligent master-slave manipulator force feedback control method, including:
a manipulator, comprising:
the device comprises a driving arm 1 and a driven arm 2 connected with the driving arm 1, wherein the driving arm 1 is connected with an industrial personal computer 3, and the driven arm 2 is connected with the industrial personal computer 3;
a motor torque acquisition unit for acquiring the output torque of the driving motor of the driven arm 2 and sending the output torque to the calculation unit of the upper computer 4,
the driving unit is used for controlling the load feedback output voltage of each driving motor of the driving arm 1 according to the received load feedback output torque of each driving motor of the driving arm 1, so as to realize the load feedback of the driven arm 2;
and the calculating unit is used for calculating the load of the driven arm 2 according to the output torque of the driving motor of the received driven arm 2, calculating the load feedback output torque of each driving motor of the driving arm 1 required by the load of the driven arm 2 according to the statics principle, and sending the load feedback output torque to the driving unit of the industrial personal computer 3.
Preferably, the industrial personal computer 3 further comprises:
the attitude acquisition unit is used for acquiring the attitude of the master arm 1 in any time state and sending the attitude to the calculation unit of the upper computer 4;
the computing unit of the upper computer 4 is also used for computing the gravity compensation output torque of the driving motor of the driving arm 1 required by gravity compensation in real time according to the received attitude of the driving arm 1 in any time state, and sending the gravity compensation output torque to the driving unit of the industrial personal computer 3;
and the driving unit of the industrial personal computer 3 is further used for controlling the gravity compensation output voltage of each driving motor of the driving arm 1 according to the received gravity compensation output torque of the driving motor of the driving arm 1, so as to realize the gravity compensation of the driving arm 1.
As shown in fig. 5, a schematic diagram of the degrees of freedom of the master arm 1/the slave arm 2 in this embodiment is used for a novel intelligent master-slave manipulator force feedback control method.
Preferably, the computing unit of the upper computer 4 is further configured to obtain an output torque of the driving motor of the master arm 1 in real time according to the received attitude of the master arm 1 at any time, calibrate a torque value of the driving motor at no-load time of the master arm 1 through the industrial personal computer 3 to obtain a compensation torque required by force rendering, and send the compensation torque to the driving unit of the industrial personal computer 3;
and the driving unit of the industrial personal computer 3 is further used for controlling the force rendering compensation output voltage of each driving motor of the active arm 1 according to the received force rendering compensation output torque of the driving motor of the active arm 1, so as to realize the force rendering compensation of the active arm 1.
Preferably, the calculating unit of the upper computer 4 is further configured to calculate the load of the slave arm 2 based on the received output torque of the drive motor of the slave arm 2 in combination with the attitude of the master arm 1 at any time.
The computing unit is specifically an actuator of a master-slave manipulator force feedback control algorithm, obtains corresponding freedom degree postures according to each encoder of the master arm 1, and computes the gravity compensation output torque of a driving motor of the master arm 1 required by gravity compensation in real time through space matrix transformation; the load is calculated by calibrating the torque value of the driving motor when the driven arm 2 is in idle load through the industrial personal computer 3, and the data are sent to the industrial personal computer 3 by utilizing a TCP/IP communication protocol.
The industrial personal computer 3 receives the moment information sent from the upper computer 4 and controls the driving arm 1; and the joint angle of the driving arm 1 and the moment value of the driving motor of the driven arm 2 are monitored in real time and are sent to the upper computer 4 by utilizing a TCP/IP communication protocol.
The driving arm 1 and the driven arm 2 comprise two isomorphic mechanical arms, a servo motor connected with the mechanical arms and used for driving the mechanical arms, a torque sensor and an encoder, and can be used for completing teleoperation tasks (the nuclear environment teleoperation mechanical arm is an industrial mechanical arm with special application, and no mature commercial product exists in the current market).
The novel intelligent master-slave manipulator force feedback control system in the embodiment compensates the gravity moment of the master arm 1 in the teleoperation process in real time based on statics calculation, identifies the weight of the load when the slave arm 2 is loaded, and reflects the load force of the slave arm 2 on the master arm 1.
The force feedback of the system used in the novel intelligent master-slave manipulator force feedback control method in the embodiment specifically means that: the industrial personal computer 3 monitors the attitude of the driving arm 1 at any moment, namely the respective degree of freedom encoder values, and the output torque of the driving motor of the driven arm 2 with the same attitude as that of the driving arm 1, and sends the data to the upper computer 4; the upper computer 4 calculates the mass (possibly zero) of the heavy object clamped by the driven arm 2 according to the attitude of the driving arm 1 and the output torque of the driving motor of the driven arm 2; calculating the output torque of each driving motor of the driving arm 1 required by gravity compensation and load rendering based on a statics principle and by combining the posture of the driving arm 1; the upper computer 4 returns the calculated output torque value of the driving motor of the driving arm 1 to the industrial personal computer 3, the industrial personal computer 3 controls the output voltage of each driving motor of the driving arm 1 through a driver, and finally, the gravity compensation and load rendering effects of the driving arm 1 are achieved at any time and in any posture, and under the condition that the driven arm 2 is not provided with a force sensor, the deviation caused by mechanical balance is avoided, and the efficiency and the comfort degree of the master-slave teleoperation are improved.
Compared with the prior art, the novel intelligent master-slave manipulator force feedback control method and system of the embodiment have the beneficial effects that:
(1) by utilizing real-time statics resolving, the effects of gravity compensation and load rendering of the driving arm 1 without mechanical balance are realized;
(2) the gravity compensation of the driving arm 1 is solved by controlling a gravity compensation algorithm, a mechanical gravity compensation mechanism is cancelled, the structural composition of the manipulator is greatly simplified, and the manipulator is lighter;
(3) under the condition that no force sensor is installed at the tail end of the driven arm 2, the load mass of the driven arm 2 is identified through the output torque of a driving motor of the driven arm 2 and the posture of the driving arm 1, and the load force rendering effect of the driving arm 1 is completed;
(4) the full gravity balance of the arm is realized through a gravity compensation algorithm, and an accurate and real feedback force effect can be provided for an operator by using a load force rendering method.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (12)
1. A novel intelligent master-slave manipulator force feedback control method is characterized in that the method comprises the following steps:
the method comprises the steps of obtaining the output torque of the driving motors of the driven arm, calculating the load feedback output torque of each driving motor of the driving arm required by the load of the driven arm according to a statics principle, controlling the load feedback output voltage of each driving motor of the driving arm according to the load feedback output torque of each driving motor of the driving arm, and achieving load feedback of the driven arm.
2. The novel intelligent master-slave manipulator force feedback control method according to claim 1, further comprising the following steps:
and acquiring the attitude of the driving arm in any time state, wherein the step of calculating the load of the driven arm further comprises the step of calculating the load of the driven arm by combining the acquired attitude of the driving arm.
3. The novel intelligent master-slave manipulator force feedback control method according to claim 1 or 2, wherein the algorithm for calculating the load of the slave arm is a load recognition algorithm.
4. The novel intelligent master-slave manipulator force feedback control method according to claim 1, further comprising the following steps:
the method comprises the steps of obtaining the attitude of the active arm in any time state, calculating the gravity compensation output torque of the driving motor of the active arm required by gravity compensation in real time, and controlling the gravity compensation output voltage of each driving motor of the active arm according to the gravity compensation output torque of the driving motor of the active arm to realize the gravity compensation of the active arm.
5. The novel intelligent master-slave manipulator force feedback control method as claimed in claim 4, wherein the posture of the master arm in any temporal state is a joint angle of each joint of the master arm in any temporal state.
6. The novel intelligent master-slave manipulator force feedback control method according to claim 4, wherein an algorithm for calculating the gravity compensation output torque of the drive motor of the master arm required for gravity compensation in real time is a gravity compensation algorithm.
7. The novel intelligent master-slave manipulator force feedback control method according to any one of claims 4 to 6, characterized by further comprising the following steps: and calculating the force rendering compensation output torque of the driving motor of the active arm required by force rendering in real time according to the attitude of the active arm at any time, and controlling the force rendering compensation output voltage of each driving motor of the active arm according to the force rendering compensation output torque of the driving motor of the active arm to realize the force rendering compensation of the active arm.
8. The novel intelligent master-slave manipulator force feedback control method according to claim 7, wherein an algorithm for calculating the force rendering compensation output torque of the drive motor of the master arm required for force rendering in real time is a force rendering algorithm.
9. A system for a novel intelligent master-slave manipulator force feedback control method according to any one of claims 1-8, comprising:
a manipulator, comprising:
the system comprises a driving arm and a driven arm connected with the driving arm, wherein the driving arm is connected with an industrial personal computer, and the driven arm is connected with the industrial personal computer;
the industrial computer includes:
a motor torque obtaining unit for obtaining the output torque of the driving motor of the driven arm and sending the output torque to a computing unit of an upper computer,
the driving unit is used for controlling the load feedback output voltage of each driving motor of the driving arm according to the received load feedback output torque of each driving motor of the driving arm so as to realize the load feedback of the driven arm;
the host computer includes:
and the calculating unit is used for calculating the load of the driven arm according to the output torque of the driving motor of the received driven arm, calculating the load feedback output torque of each driving motor of the driving arm required by the load of the driven arm according to the statics principle, and sending the load feedback output torque to the driving unit of the industrial personal computer.
10. The system for the novel intelligent master-slave manipulator force feedback control method according to claim 9,
the industrial computer still includes:
the attitude acquisition unit is used for acquiring the attitude of the master arm in any time state and sending the attitude to the calculation unit of the upper computer;
the computing unit of the upper computer is also used for computing the gravity compensation output torque of the driving motor of the driving arm required by gravity compensation in real time according to the received attitude of the driving arm in any time state, and sending the gravity compensation output torque to the driving unit of the industrial personal computer;
and the driving unit of the industrial personal computer is also used for controlling the gravity compensation output voltage of each driving motor of the active arm according to the received gravity compensation output torque of the driving motor of the active arm so as to realize the gravity compensation of the active arm.
11. The system for the novel intelligent master-slave manipulator force feedback control method according to claim 10,
the computing unit of the upper computer is also used for computing the force rendering compensation output torque of the driving motor of the active arm required by force rendering in real time according to the received attitude of the active arm in any time state, and sending the force rendering compensation output torque to the driving unit of the industrial personal computer;
and the driving unit of the industrial personal computer is also used for controlling the force rendering compensation output voltage of each driving motor of the active arm according to the received force rendering compensation output torque of the driving motor of the active arm, so as to realize the force rendering compensation of the active arm.
12. The system for the novel intelligent master-slave manipulator force feedback control method according to claim 10,
and the computing unit of the upper computer is also used for computing the load of the driven arm according to the received output torque of the driving motor of the driven arm and the attitude of the driving arm in any time state.
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| CN108748147A (en) * | 2018-06-01 | 2018-11-06 | 清华大学深圳研究生院 | A kind of control system and method for ectoskeleton mechanical arm |
| CN112060098A (en) * | 2020-11-16 | 2020-12-11 | 杭州景业智能科技股份有限公司 | Master-slave follow-up power feedback control method and device, computer equipment and storage medium |
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