CN114800507A - Master-slave mechanical arm control system - Google Patents
Master-slave mechanical arm control system Download PDFInfo
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- CN114800507A CN114800507A CN202210448522.2A CN202210448522A CN114800507A CN 114800507 A CN114800507 A CN 114800507A CN 202210448522 A CN202210448522 A CN 202210448522A CN 114800507 A CN114800507 A CN 114800507A
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
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- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
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Abstract
The invention relates to the technical field of automatic control, and discloses a master-slave mechanical arm control system, which comprises a control system, wherein the control system comprises a control chip, a downloading unit, an energy unit, an acquisition unit and a transmission unit, the model of the control panel is Esp32 or a similar performance control panel, the downloading unit comprises a receiving module, a downloading module and a transmission module, the signal output end of the receiving module is connected with the signal receiving end of the downloading module, the signal output end of the downloading module is connected with the signal receiving end of the transmission module, the downloading module converts data through a USB-to-TTL program, the USB-to-TTL mainly realizes the conversion from a USB protocol to a TTL serial port protocol, is used for downloading the program from a PC to an esp32 control panel, can visually display the data returned by a serial port device and send corresponding control data to the serial port device through serial port assistant software on a computer, is convenient for remote operation.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a master-slave mechanical arm control system.
Background
In a robot applied to field operation, particularly an underwater robot, the design scheme and the implementation scheme of a mechanical arm control system both intuitively influence the working efficiency of the robot. The control method is limited by the single control mode, most of the existing observation-level underwater robots do not integrate mechanical arms on the robot body in the design, and few of the machines integrating the mechanical arms have only single degree of freedom, so that the field of the underwater robots urgently needs a mechanical arm control mode convenient to control and integrate, the control of the mechanical arms by using the traditional handles or joysticks is still the mainstream mode for controlling the mechanical arms today, but the traditional mechanical arm control has the following technical difficulties in the practical use: 1. the robotic arm control system requires additional ergonomic design, and the user needs to pay additional learning cost to remember the operation method of each joint. 2. The control mode of the mechanical arm is not intuitive enough, and a great deal of time is wasted in control when remote operation requiring quick response is performed, so that a master-slave type mechanical arm control system is provided.
Disclosure of Invention
The invention aims to provide a master-slave mechanical arm control system, which maps the position data of each joint of a master arm into a slave arm control system on the premise of ensuring low time delay, so that the master arm can be used for controlling the action of a slave arm in real time, the function of synchronously controlling a mechanical arm is further realized, the control difficulty and the design difficulty of a control end are greatly reduced, and the possibility of controlling complex work of the mechanical arm is created.
In order to achieve the purpose, the invention provides the following technical scheme: a master-slave mechanical arm control system comprises a control system, wherein the control system comprises a control chip, a downloading unit, an energy unit, a collecting unit and a transmission unit, the type of the control board is Esp32 or the same-performance control board, the downloading unit comprises a receiving module, a downloading module and a transmission module, and the signal output end of the receiving module is connected with the signal receiving end of the downloading module.
Preferably, the signal output end of the download module is connected with the signal receiving end of the transmission module, the download module converts data through a USB-to-TTL program, the USB-to-TTL program mainly realizes conversion from a USB protocol to a TTL serial port protocol and is used for downloading the program from a PC to an esp32 control panel, and serial port helper software on the computer can visually display data returned by the serial port device and send corresponding control data to the serial port device, so that remote operation is facilitated.
Preferably, the energy unit comprises a charging module, a storage module and a discharging module, wherein the signal output end of the charging module is connected with the signal receiving end of the storage module, and the storage module is charged through the charging module, so that the storage module can store energy required by operation of the control system, and the control system can operate without a plug-in wire.
Preferably, the signal output end of the storage module is connected with the signal receiving end of the discharge module, and the energy unit supplies the working voltage to the system by adopting an AMS1117-3.3 chip or a similar energy chip.
Preferably, the acquisition unit comprises a conversion module, a reading module and a conveying module, and the signal output end of the conversion module is connected with the signal receiving end of the reading module.
Preferably, the signal output end of the reading module is connected with the signal receiving end of the conveying module, and the acquisition unit converts the input analog quantity into a digital quantity by adopting adc sampling and reads the digital quantity.
Preferably, the transmission unit includes a modulation module, a coding module, and an output module, and a signal output end of the modulation module is connected to a signal receiving end of the coding module.
Preferably, the signal output end of the encoding module is connected with the signal receiving end of the output module, and the transmission unit modulates the width of a series of pulses to obtain a required waveform (including shape and amplitude), and digitally encodes the level of the analog signal.
The main arm is used as a receiving medium of the human body control signal, and the state of the secondary wall can be intuitively controlled by using the state of the main arm. The ergonomic design cost and the learning cost of the user are greatly reduced.
Preferably, the mechanical arm applying the control system comprises a slave arm chassis, a primary arm, a secondary arm and a master arm clamping jaw assembly, wherein the master arm is provided with a potentiometer, and the slave arm is provided with a joint controller and a joint motor.
The invention provides a master-slave mechanical arm control system. The method has the following beneficial effects:
(1) the invention can intuitively control the state of the slave wall by using the state of the master arm by adopting the master arm as a receiving medium of the human body control signal. The ergonomic design cost and the learning cost of the user are greatly reduced.
(2) The sampling data of the invention is directly transmitted to the slave arm through mapping, and the real-time performance is good.
(3) The invention saves the ergonomic design work of the control end and has low cost.
(4) The control method is visual, saves precious learning time for users, and is high in usability.
(5) The controller provided by the invention has the advantages of abundant IO resources, built-in WIFI communication function and good expansibility.
Drawings
FIG. 1 is a system diagram of a control system of the present invention;
FIG. 2 is a block diagram of the slave arm chassis of the present invention;
FIG. 3 is a block diagram of a primary arm of the present invention;
FIG. 4 is a block diagram of a secondary arm of the present invention;
FIG. 5 is a block diagram of the main arm jaw assembly of the present invention;
FIG. 6 is a circuit diagram of an Esp32 system board according to the present invention;
FIG. 7 is a circuit diagram of the program download part of Esp32 according to the invention;
FIG. 8 is a circuit diagram of the power supply portion of Esp32 of the present invention;
FIG. 9 is a circuit diagram of the ADC acquisition section of the present invention;
FIG. 10 is a circuit diagram of a signal output section of the present invention;
FIG. 11 is a flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Examples of which are illustrated in the accompanying drawings, wherein like 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 illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 11, the present invention provides a technical solution: a master-slave mechanical arm control system comprises a control system, wherein the control system comprises a control chip, a download unit, an energy unit, a collection unit and a transmission unit, the model of the control panel is Esp32 or a same-performance control panel, the download unit comprises a receiving module, a download module and a transmission module, the signal output end of the receiving module is in signal connection with the signal receiving end of the download module, the signal output end of the download module is in signal connection with the signal receiving end of the transmission module, the download module converts data through a USB-to-TTL program, the USB-to-TTL mainly realizes the conversion from a USB protocol to a TTL serial port protocol and is used for downloading the program from a PC to an esp32 control panel, the energy unit comprises a charging module, a storage module and a discharging module, the signal output end of the charging module is in signal connection with the signal receiving end of the storage module, the signal output end of the storage module is in signal connection with the signal receiving end of the discharging module, the energy unit supplies working voltage to the system by adopting an AMS1117-3.3 chip or a same-performance chip, the acquisition unit comprises a conversion module, a reading module and a transmission module, the signal output end of the conversion module is in signal connection with the signal receiving end of the reading module, the signal output end of the reading module is in signal connection with the signal receiving end of the transmission module, the acquisition unit converts input analog quantity into digital quantity by adopting adc sampling and reads the digital quantity, the transmission unit comprises a modulation module, a coding module and an output module, the signal output end of the modulation module is in signal connection with the signal receiving end of the coding module, the signal output end of the coding module is in signal connection with the signal receiving end of the output module, the transmission unit modulates the width of a series of pulses to equivalent to required waveform (including shape and amplitude value) and digitally codes the level of the analog signal, the mechanical arm applying the control system comprises a slave arm chassis, a primary arm, a secondary arm and a master arm clamping jaw assembly, wherein the master arm is provided with a potentiometer, and the slave arm is provided with a relevant section controller and a joint motor.
Esp32 the control circuit design includes esp32 minimum system board circuit, which is mainly composed of hardware reset portion and some decoupling capacitors.
In conclusion, although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made herein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A master-slave mechanical arm control system comprises a control system and is characterized in that: including control chip, download unit, energy unit, acquisition unit, transmission unit in the control system, the model of control panel is Esp32 or the same performance control panel, the download unit includes receiving module, download module, transmission module, receiving module's signal output part is connected with the signal receiving terminal who downloads the module.
2. The master-slave robotic arm control system of claim 1, wherein: the signal output end of the download module is connected with the signal receiving end of the transmission module, the download module converts data through a USB-to-TTL program, and the USB-to-TTL program mainly realizes conversion from a USB protocol to a TTL serial port protocol and is used for downloading programs from a PC to an esp32 control panel.
3. The master-slave robotic arm control system of claim 1, wherein: the energy unit comprises a charging module, a storage module and a discharging module, wherein the signal output end of the charging module is connected with the signal receiving end of the storage module.
4. A master-slave robotic arm control system according to claim 3, wherein: the signal output end of the storage module is connected with the signal receiving end of the discharge module, and the energy unit supplies the working voltage to the system by adopting an AMS1117-3.3 chip or a similar-performance chip.
5. The master-slave robotic arm control system of claim 1, wherein: the acquisition unit comprises a conversion module, a reading module and a conveying module, wherein the signal output end of the conversion module is connected with the signal receiving end of the reading module.
6. The master-slave robotic arm control system of claim 5, wherein: the signal output end of the reading module is connected with the signal receiving end of the conveying module, and the acquisition unit converts the input analog quantity into digital quantity by adopting adc sampling and reads the digital quantity.
7. The master-slave robotic arm control system of claim 1, wherein: the transmission unit comprises a modulation module, a coding module and an output module, wherein the signal output end of the modulation module is connected with the signal receiving end of the coding module.
8. The master-slave robotic arm control system of claim 7, wherein: the signal output end of the coding module is connected with the signal receiving end of the output module, the transmission unit is used for modulating the width of a series of pulses to equivalently obtain a required waveform (including shape and amplitude), and digital coding is performed on the level of the analog signal.
9. A master-slave robotic arm control system according to claims 1-8, wherein: the mechanical arm applying the control system comprises a slave arm chassis, a primary arm, a secondary arm and a master arm clamping jaw assembly, wherein the master arm is provided with a potentiometer, and the slave arm is provided with a relevant section controller and a joint motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210448522.2A CN114800507A (en) | 2022-04-27 | 2022-04-27 | Master-slave mechanical arm control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210448522.2A CN114800507A (en) | 2022-04-27 | 2022-04-27 | Master-slave mechanical arm control system |
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| CN114800507A true CN114800507A (en) | 2022-07-29 |
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| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
| CN205176527U (en) * | 2015-12-01 | 2016-04-20 | 山东科技大学 | Many rounds of independent driven robot controllers |
| CN107901044A (en) * | 2017-12-29 | 2018-04-13 | 上海交通大学 | The drive control integral system of joint of robot |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
| CN111330235A (en) * | 2019-10-31 | 2020-06-26 | 湖南科技大学 | Intelligent table tennis court cleaning robot |
| CN113545845A (en) * | 2021-07-19 | 2021-10-26 | 天津大学 | Wearable fracture reduction and rehabilitation robot control system and control method |
| CN113581711A (en) * | 2021-08-04 | 2021-11-02 | 北京建筑大学 | Small-size storage warehouse-in and warehouse-out guide system |
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2022
- 2022-04-27 CN CN202210448522.2A patent/CN114800507A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001287180A (en) * | 2000-04-04 | 2001-10-16 | Sony Corp | Robot remote-control system and software distribution method |
| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
| CN205176527U (en) * | 2015-12-01 | 2016-04-20 | 山东科技大学 | Many rounds of independent driven robot controllers |
| CN107901044A (en) * | 2017-12-29 | 2018-04-13 | 上海交通大学 | The drive control integral system of joint of robot |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
| CN111330235A (en) * | 2019-10-31 | 2020-06-26 | 湖南科技大学 | Intelligent table tennis court cleaning robot |
| CN113545845A (en) * | 2021-07-19 | 2021-10-26 | 天津大学 | Wearable fracture reduction and rehabilitation robot control system and control method |
| CN113581711A (en) * | 2021-08-04 | 2021-11-02 | 北京建筑大学 | Small-size storage warehouse-in and warehouse-out guide system |
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