CN113084818B - Remote operation control method for space manipulator based on rocker handle - Google Patents
Remote operation control method for space manipulator based on rocker handle Download PDFInfo
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- CN113084818B CN113084818B CN202110417897.8A CN202110417897A CN113084818B CN 113084818 B CN113084818 B CN 113084818B CN 202110417897 A CN202110417897 A CN 202110417897A CN 113084818 B CN113084818 B CN 113084818B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 63
- 238000013507 mapping Methods 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims abstract description 13
- 210000000707 wrist Anatomy 0.000 claims description 23
- 230000000295 complement effect Effects 0.000 claims 1
- 239000013589 supplement Substances 0.000 abstract description 6
- 230000036544 posture Effects 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 description 6
- 230000009466 transformation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention provides a space manipulator teleoperation control method based on a rocker handle, which relates to the field of manipulator control, and is characterized in that a mapping of handle actions and manipulator actions is established based on manipulator joint linkage, and joint angle information of the degrees of freedom of vertical movement, translation and rotation of a manipulator is obtained according to a motion signal of an input handle to obtain a linkage execution signal of a manipulator joint; the method comprises the steps of establishing a mapping between handle actions and mechanical arm joints based on independent movement of the mechanical arm joints, and acquiring angle information of the mechanical arm joints according to movement signals of an input handle to obtain independent execution signals of the mechanical arm joints; and switching the linkage of the mechanical arm joint and the independent movement of the mechanical arm joint, and outputting a linkage execution signal or an independent execution signal. The teleoperation planning complexity of the space manipulator is simplified by utilizing two modes of multi-joint linkage and single-joint independent movement, the single-joint independent movement is used as the supplement of the joint linkage mode, and the problem of singular postures of joints is solved through single-joint independent control.
Description
Technical Field
The disclosure relates to the field of mechanical arm control, in particular to a space mechanical arm teleoperation control method based on a rocker handle.
Background
The teleoperation technology (master-slave operation technology) and the robot technology are combined, so that the problem that the existing robot is difficult to complete complex tasks can be effectively solved. Master-slave teleoperation techniques enable the remote participation of tasks by operators, combining analytical capabilities with the machine. The intelligent robot not only can solve the problem that the fully active robot is not intelligent enough caused by the lack of maturity of the existing computer technology, but also can replace manual operation and lighten the labor intensity of the manual operation.
The inventor finds that the currently used teleoperation mode generally uses the same topological structure as the slave mechanical arm, but only carries out teleoperation control on the master mechanical arm with different proportion sizes; or a multi-degree-of-freedom handle is used as a main mechanical arm to remotely operate and control the auxiliary mechanical arm; when the remote operation control of the space manipulator is carried out through the handle, the angular speed of the fixed coordinate system of the tail end of the manipulator relative to the coordinate system of the base of the manipulator is taken as the gesture control output of the handle, and the method has clear physical meaning, but when the gesture control of the tail end of the space manipulator is carried out, the singular problem generated by complex structure is caused, so that the effective adjustment of the singular gesture of the joint is difficult; in addition, when the joint motion of the mechanical arm is resolved, the response speed of the mechanical arm is affected by a complex algorithm.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a space manipulator teleoperation control method based on a rocker handle, which simplifies the teleoperation planning complexity of the space manipulator by utilizing two modes of multi-joint linkage and single-joint independent movement, wherein the single-joint independent movement is used as the supplement of a joint linkage mode, and solves the problem of singular joint postures through single-joint independent control.
The first object of the present disclosure is to provide a space manipulator teleoperation control method based on a rocker handle, which adopts the following technical scheme:
the method comprises the following steps:
the method comprises the steps of establishing a mapping of handle actions and mechanical arm actions based on mechanical arm joint linkage, and acquiring joint angle information of degrees of freedom of vertical movement, translational movement and rotation of the mechanical arm according to a motion signal of an input handle to obtain a linkage execution signal of the mechanical arm joint;
the method comprises the steps of establishing a mapping between handle actions and mechanical arm joints based on independent movement of the mechanical arm joints, and acquiring angle information of the mechanical arm joints according to movement signals of an input handle to obtain independent execution signals of the mechanical arm joints;
and switching the linkage of the mechanical arm joint and the independent movement of the mechanical arm joint, and outputting a linkage execution signal or an independent execution signal to the mechanical arm.
Further, a reference rectangular coordinate system is established, a vertical movement degree of freedom mapping of the mechanical arm relative to a YOZ plane of the reference coordinate system and the tele-lever handle is established, a translational movement degree of freedom mapping of the mechanical arm relative to a XOY plane of the reference coordinate system and the tele-lever handle is established, and a rotational degree of freedom mapping of the mechanical arm relative to the XOZ plane of the reference coordinate system and the tele-lever handle is established.
Further, the method also comprises the step of establishing a mapping between the opening and closing of the mechanical arm paw and the handle.
Further, according to the mapping of the motion signal of the input handle in the handle coordinate system, the joint angle information of the degrees of freedom of the mechanical arm in vertical motion, translation and rotation is obtained; the handle coordinate system comprises a handle pitching coordinate system, a handle yawing coordinate system and a handle rolling coordinate system.
Further, the erector motion degree of freedom joints include a large arm pitch joint, a small arm pitch joint, and a wrist pitch joint.
Further, the translational degree of freedom joints include a lumbar swing joint and a wrist swing joint.
Further, the rotational degree of freedom joint is a paw rotary joint.
Further, when the mechanical arm joints independently move:
establishing a mapping between the X direction of a first handle coordinate system and the waist rotary joint;
establishing a mapping between the Y direction of a first handle coordinate system and the pitching joint of the large arm;
establishing a mapping between the X direction of a second handle coordinate system and the wrist pitching joint;
and establishing a mapping between the Y direction of the second handle coordinate system and the wrist swing joint.
Further, the independent action of the mechanical arm joint is used as the supplement of the linkage action of the mechanical arm, and the independent control of part of joints of the mechanical arm is carried out.
Further, acquiring a motion signal of the input handle includes: the two-axis travel data of the first handle and the two-axis travel data of the second handle.
Compared with the prior art, the present disclosure has the advantages and positive effects that:
(1) The teleoperation planning complexity of the space manipulator is simplified by utilizing two modes of multi-joint linkage and single-joint independent movement, the single-joint independent movement is used as the supplement of the joint linkage mode, and the problem of singular postures of joints is solved by single-joint independent control;
(2) The multi-joint linkage mode divides the motion of the space manipulator into three groups of motions of vertical motion, translation and rotation, the vertical motion, the translation and the rotation are decoupled from each other, the motion control is simple and reliable, the physical meaning is clear, the occupied resources are less, compared with the traditional gesture mapping method, the angle limitation is carried out on the appointed degree of freedom, and the gesture motion of the space manipulator has no singular problem.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure.
Fig. 1 is a schematic diagram of a six-degree-of-freedom mechanical arm structure and a coordinate system in embodiment 1 of the disclosure;
fig. 2 is a schematic diagram of a two-rocker handle coordinate system in embodiment 1 of the present disclosure.
Detailed Description
Example 1
In an exemplary embodiment of the present disclosure, as shown in fig. 1-2, a spatial manipulator teleoperation control method based on a rocker handle is provided.
In the control method of the multi-degree-of-freedom space manipulator, R T H ＝A 1 A 2 …A i and setting the degrees of freedom of the mechanical arm as a vertical motion degree of freedom, a translational motion degree of freedom and a rotational degree of freedom for a transformation matrix of the tail end of the mechanical arm relative to a mechanical arm reference coordinate system.
And (3) establishing the degree-of-freedom mapping of the mechanical arm relative to the reference coordinate plane and the telelever handle in the rectangular coordinate system, and setting and limiting the degree-of-freedom angles of the mechanical arm in the established rectangular coordinate system through inverse kinematics analysis of the mechanical arm to complete teleoperation planning of the spatial mechanical arm.
In this embodiment, taking a six-degree-of-freedom mechanical arm as an example, the six-degree-of-freedom mechanical arm includes six rotational joints: waist gyration joint, big arm every single move joint, forearm every single move joint, wrist swing joint and paw gyration joint.
The double-rocker operating handle is adopted, the handle comprises two remote rods, a switch key and a mode switching key, each remote rod has two degrees of freedom, and when the mechanical arm is located at the initial position, the remote rod is located at the zero-action position.
A space manipulator teleoperation control method based on a rocker handle comprises two modes of multi-joint linkage and single-joint independent action of the manipulator, wherein the two teleoperation modes of the manipulator can be switched through a mode switching key of the rocker handle.
The space manipulator teleoperation joint linkage mode operation control method of one of the two operation modes comprises the following steps:
and establishing a vertical degree-of-freedom mapping of the six-degree-of-freedom mechanical arm relative to the YOZ plane of the reference coordinate system and the tele-lever handle.
And establishing a plane freedom degree mapping of the six-freedom-degree mechanical arm relative to the reference coordinate system XOY plane and the tele-bar handle.
And establishing a rotation freedom degree mapping of the six-freedom-degree mechanical arm relative to the reference coordinate system XOZ plane and the tele-bar handle.
And establishing the mapping between the opening and closing of the six-degree-of-freedom mechanical arm paw and the handle.
According to the output of a pitch coordinate system of the remote rod handle, joint angle information of the mechanical arm vertical movement degree of freedom is generated, according to the output of a side line coordinate system of the remote rod handle, joint angle information of the mechanical arm translational movement degree of freedom is generated, and according to the output of a roll coordinate system of the remote rod handle, joint angle information of the mechanical arm rotational degree of freedom is generated.
After the positions of all joints are obtained, the teleoperation control of the space manipulator can be completed.
Further, the vertical movement degree of freedom includes: large arm pitch joint, small arm pitch joint, and wrist pitch joint.
Further, the method for establishing the vertical movement degree of freedom mapping of the remote rod handle and the mechanical arm comprises the following steps:
with respect to a reference coordinate system established by the mechanical arm base, the mechanical arm claw and the base are arranged betweenIs transformed into (a) the kinematics of (b) R T H ＝A 1 A 2 A 3 A 4 A 5 A 6
Further, transform matrix
Wherein the transformation matrix A 2 、A 3 、A 4 A transformation matrix mapped for vertical degrees of freedom.
Wherein:
as shown in FIG. 1, θ 2 、θ 3 、θ 4 The joint angles of the large arm pitching joint, the small arm pitching joint and the wrist pitching joint relative to the zero position of the mechanical arm are respectively shown.
The zero position of the mechanical arm is when theta 2 、θ 3 、θ 4 And the pose is respectively positioned at the middle value of the maximum value and the minimum value of the initial pose of the mechanical arm.
Such as theta 2max +θ 2min =0°, where θ 2 、θ 3 、θ 4 The joint movement range is-90 degrees to 90 degrees. I.e. the joint angle of the initial pose is 0 deg..
Further, in the linkage mode, a first telelever handle is used for teleoperation control of the vertical movement freedom degree of the mechanical arm in the Y direction.
In the process of teleoperation under a given initial attitude coordinate system, if the pose of the mechanical arm is reached through a linkage mode, the following steps are provided
Theta is then 2 、θ 3 、θ 4 Can be expressed as
θ 4 ＝θ 234 -θ 2 -θ 3
Further, when the teleoperation control of the mechanical arm is performed by the tele-lever handle, the solution θ of three degrees of freedom of the vertical movement degrees of the mechanical arm 2 、θ 3 、θ 4 There are a plurality of combinations, in which the teleoperation of the vertical freedom of the mechanical arm should be selected to be |θ 2 |+|θ 3 |+|θ 4 Minimum value of i.
Further, the method comprises the steps of, R T H ＝A 1 A 2 A 3 A 4 A 5 A 6 when A is 1 、A 5 、A 6 T when kept unchanged p The output of the vertical movement freedom degree of the mechanical arm paw is obtained.
Wherein A is 1 、A 5 For a translation degree of freedom mapped transformation matrix,
wherein θ 1 、θ 5 The joint angles of the waist rotary joint and the wrist pitching joint relative to the zero position of the mechanical arm are respectively shown.
Further, the zero position of the mechanical arm is when θ 1 、θ 5 Pose at the intermediate value of its maximum and minimum values, respectively.
Furthermore, in the linkage mode, the first telelever handle is used for teleoperation control of the translational degree of freedom of the mechanical arm in the X direction.
Further, in the translational degree of freedom teleoperation planning process of the mechanical arm, the initial pose theta of the mechanical arm is opposite to the initial pose theta of the mechanical arm 1 And theta 5 The angle of (2) should be the same number, i.e. yaw angle θ relative to the initial pose coordinate system 1 And theta 5 Should be either positive, i.e. clockwise with respect to the z-axis of the joint coordinate system, or negative.
Wherein A is 6 For a transformation matrix mapped to a rotational degree of freedom,
further, in the linkage mode, the teleoperation control of the rotation freedom degree of the mechanical arm is performed in the X direction by using a second telelever handle. And (3) performing mechanical arm depression mechanical gripper opening and closing teleoperation control in the Y direction by using a second telelever handle.
The multi-joint linkage mode divides the motion of the space manipulator into three groups of motions of vertical motion, translation and rotation, the vertical motion, the translation and the rotation are decoupled from each other, the motion control is simple and reliable, the physical meaning is clear, the occupied resources are less, compared with the traditional gesture mapping method, the angle limitation is carried out on the appointed degree of freedom, and the gesture motion of the space manipulator has no singular problem.
The mode is switched through the mode switching key positioned on the remote rod handle, and the mode is switched to the independent action mode of the single joint of the mechanical arm.
The operation control method of the independent movement mode of the space manipulator teleoperation joint in one of two operation modes is used as the supplement of the joint linkage mode, and comprises the following steps:
and establishing teleoperation mapping based on the X direction of the first rocker coordinate system and the waist rotary joint of the mechanical arm.
And establishing a teleoperation mapping based on the Y direction of the first rocker coordinate system and the pitching joint of the large arm of the mechanical arm.
And establishing a teleoperation mapping based on the X direction of the second rocker coordinate system and the pitching joint of the wrist of the mechanical arm.
And establishing a teleoperation mapping based on the Y direction of the second remote sensing coordinate system and the swinging joint of the wrist of the mechanical arm.
Further, the method for establishing the teleoperation mapping between the X direction of the first rocker coordinate system and the waist rotary joint of the mechanical arm comprises the following steps: when the rocker is in an initial state, the waist rotary joint of the mechanical arm is correspondingly positioned in the initial pose of the mechanical arm. The positive stroke of the first rocker corresponds to the positive angular revolution of the waist revolution joint of the mechanical arm, and the negative stroke corresponds to the negative angular revolution of the waist revolution joint of the mechanical arm.
The positive and negative rotary strokes of the waist rotary joint are uniformly distributed in the positive and negative strokes of the first rocker coordinate system in the X direction.
Further, the method for establishing the teleoperation mapping between the Y direction of the first rocker coordinate system and the pitching joint of the large arm of the mechanical arm comprises the following steps: when the rocker is in an initial state, the large arm pitching joint of the mechanical arm is correspondingly positioned in the initial pose of the mechanical arm. The positive stroke of the first rocker in the Y direction corresponds to positive angular revolution of the large arm pitch joint of the mechanical arm, and the negative stroke corresponds to negative angular revolution of the large arm pitch joint of the mechanical arm.
The positive and negative rotation strokes of the large arm pitching joint are uniformly distributed in the positive and negative strokes of the Y direction of the first rocker coordinate system.
Further, the method for establishing the teleoperation mapping between the X direction of the second rocker coordinate system and the pitching joint of the wrist of the mechanical arm comprises the following steps: when the rocker is in an initial state, the wrist pitching joint of the mechanical arm is correspondingly positioned in the initial pose of the mechanical arm. The positive stroke of the second rocker corresponds to a positive angular revolution of the wrist pitch joint of the mechanical arm, and the negative stroke corresponds to a negative angular revolution of the wrist pitch joint of the mechanical arm.
The positive and negative rotation strokes of the wrist pitching joint are uniformly distributed in the positive and negative strokes of the second rocker coordinate system in the X direction.
Further, the method for establishing the teleoperation mapping between the Y direction of the second rocker coordinate system and the wrist swing joint of the mechanical arm comprises the following steps: when the rocker is in an initial state, the wrist swing joint of the mechanical arm is correspondingly positioned in the initial pose of the mechanical arm. The positive stroke of the second rocker corresponds to the positive angular revolution of the wrist swing joint of the mechanical arm, and the negative stroke corresponds to the negative angular revolution of the wrist swing joint of the mechanical arm.
The positive and negative rotation strokes of the wrist swing joint are uniformly distributed in the positive and negative strokes of the second rocker coordinate system in the Y direction.
The teleoperation planning complexity of the space manipulator is simplified by utilizing two modes of multi-joint linkage and single-joint independent movement, the single-joint independent movement is used as the supplement of the joint linkage mode, and the problem of singular postures of joints is solved through single-joint independent control.
The foregoing description of the preferred embodiments of the present disclosure is provided only and not intended to limit the disclosure so that various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (4)
1. The space manipulator teleoperation control method based on the rocker handle is characterized by comprising the following steps of:
the method comprises the steps of establishing a mapping of handle actions and mechanical arm actions based on mechanical arm joint linkage, acquiring joint angle information of degrees of freedom of vertical movement, translational movement and rotation of the mechanical arm according to motion signals of an input handle, and obtaining linkage execution signals of the mechanical arm joint, wherein the specific steps are as follows: according to the mapping of the motion signal of the input handle in the handle coordinate system, obtaining the joint angle information of the degrees of freedom of the mechanical arm in vertical motion, translation and rotation; the vertical motion degree of freedom joint comprises a large arm pitching joint, a small arm pitching joint and a wrist pitching joint; the translational degree of freedom joint comprises a waist rotary joint and a wrist swinging joint; the rotation freedom degree joint is a paw rotary joint;
establishing a reference rectangular coordinate system, establishing a vertical movement degree of freedom mapping of the mechanical arm relative to a YOZ plane of the reference coordinate system and the tele-lever handle, establishing a translational movement degree of freedom mapping of the mechanical arm relative to a XOY plane of the reference coordinate system and the tele-lever handle, and establishing a rotational degree of freedom mapping of the mechanical arm relative to the XOZ plane of the reference coordinate system and the tele-lever handle;
establishing a mapping between the opening and closing of the mechanical arm paw and the handle;
the method comprises the steps of establishing a mapping between handle actions and mechanical arm joints based on independent movement of the mechanical arm joints, and acquiring angle information of the mechanical arm joints according to movement signals of an input handle to obtain independent execution signals of the mechanical arm joints;
when the mechanical arm joints move independently:
establishing a mapping between the X direction of a first handle coordinate system and the waist rotary joint;
establishing a mapping between the Y direction of a first handle coordinate system and the pitching joint of the large arm;
establishing a mapping between the X direction of a second handle coordinate system and the wrist pitching joint;
establishing a mapping between the Y direction of a second handle coordinate system and the wrist swing joint;
and switching the linkage of the mechanical arm joint and the independent movement of the mechanical arm joint, and outputting a linkage execution signal or an independent execution signal to the mechanical arm.
2. The rocker handle based space manipulator teleoperation control method of claim 1, wherein the handle coordinate system comprises a handle pitch coordinate system, a handle yaw coordinate system, and a handle roll coordinate system.
3. The method for controlling teleoperation of a space manipulator based on a rocker handle according to claim 1, wherein the independent motion of the manipulator joints is used as a complement to the linkage motion of the manipulator, and the independent control of part of the joints of the manipulator is performed.
4. The spatial manipulator teleoperation control method based on a rocker handle of claim 1, wherein obtaining a motion signal of an input handle comprises: the two-axis travel data of the first handle and the two-axis travel data of the second handle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110417897.8A CN113084818B (en) | 2021-04-19 | 2021-04-19 | Remote operation control method for space manipulator based on rocker handle |
| PCT/CN2021/098378 WO2022222239A1 (en) | 2021-04-19 | 2021-06-04 | Rocker handle-based remote operation control method for spatial robotic arm |
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| CN202110417897.8A CN113084818B (en) | 2021-04-19 | 2021-04-19 | Remote operation control method for space manipulator based on rocker handle |
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| CN113084818B true CN113084818B (en) | 2023-10-31 |
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| CN103624790A (en) * | 2013-12-18 | 2014-03-12 | 东南大学 | Control method of teleoperation of six-freedom-degree mechanical arm |
| CN206250676U (en) * | 2016-12-21 | 2017-06-13 | 国网安徽省电力公司淮南供电公司 | The powered mechanical arm for obstacle removing of 10kV distribution lines |
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| CN112589817A (en) * | 2020-11-06 | 2021-04-02 | 兰州空间技术物理研究所 | Operation control method of space manipulator |
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| US6692485B1 (en) * | 1998-02-24 | 2004-02-17 | Endovia Medical, Inc. | Articulated apparatus for telemanipulator system |
| CN103093685B (en) * | 2013-02-07 | 2015-08-05 | 中联重科股份有限公司 | Concrete sprayer simulated operating system and method for operating |
| CN203344049U (en) * | 2013-07-09 | 2013-12-18 | 哈尔滨工程大学 | Reconfigurable modular robot system |
| CN106112951A (en) * | 2016-07-01 | 2016-11-16 | 广州霞光技研有限公司 | Multiple degrees of freedom master-slave mode remote operating method for controlling robot |
| US11667035B2 (en) * | 2019-07-01 | 2023-06-06 | Wisconsin Alumni Research Foundation | Path-modifying control system managing robot singularities |
| CN110900592B (en) * | 2019-12-17 | 2021-06-22 | 北京化工大学 | Reconfigurable redundant mechanical arm based on rope driving |
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- 2021-04-19 CN CN202110417897.8A patent/CN113084818B/en active Active
- 2021-06-04 WO PCT/CN2021/098378 patent/WO2022222239A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103624790A (en) * | 2013-12-18 | 2014-03-12 | 东南大学 | Control method of teleoperation of six-freedom-degree mechanical arm |
| CN206250676U (en) * | 2016-12-21 | 2017-06-13 | 国网安徽省电力公司淮南供电公司 | The powered mechanical arm for obstacle removing of 10kV distribution lines |
| CN107662210A (en) * | 2017-09-22 | 2018-02-06 | 中国东方电气集团有限公司 | A kind of resistance to irradiation dynamic power machine hand control system |
| CN112589817A (en) * | 2020-11-06 | 2021-04-02 | 兰州空间技术物理研究所 | Operation control method of space manipulator |
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| WO2022222239A1 (en) | 2022-10-27 |
| CN113084818A (en) | 2021-07-09 |
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