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Control method of man machine interaction mechanical arm

A control method and technology of a robotic arm, which can be applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of human accidental injury, inability to model the working environment, etc., and achieve the effects of easy adjustment, high control accuracy, and simple control structure.

Inactive Publication Date: 2008-12-31
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a control method of a human-computer interaction manipulator to solve the problem that the existing manipulator cannot accurately model the working environment when working in close contact with human beings, resulting in accidental injury to human beings

Method used

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  • Control method of man machine interaction mechanical arm
  • Control method of man machine interaction mechanical arm
  • Control method of man machine interaction mechanical arm

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Experimental program
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specific Embodiment approach 1

[0007] Specific implementation mode one: combine figure 1 This embodiment is described. This embodiment is completed by the following steps: 1. Accurately calculate the kinematics and dynamics parameters of the manipulator through CAD modeling; d , given the desired contact force F at the end of the manipulator cd and the impedance parameters of the manipulator; 3. The manipulator controller collects the position q and speed of the joint in real time through the joint sensor and acceleration And use the forward kinematics to change the position q and velocity of the joint and acceleration Convert to Cartesian position x, velocity and acceleration And the pre-contact force is calculated according to the Cartesian impedance control formula 4. Calculate the real-time trajectory planning xpg with Cartesian force feedback through trajectory planning based on force tracking; 5. The controller of the manipulator collects the joint torque τ in real time through the joint ...

specific Embodiment approach 2

[0008] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the Cartesian impedance control formula in step three of this embodiment is:

[0009] Λ d x ~ · · + D d x ~ · + K d x ~ = F ext - - - ( 1 )

[0010] in, x ~ = x - x d is the Cartesian spatial position error of the manipulator; x, x d are the actual end point position and the desired position; A d 、D d , and K d is a symmetric po...

specific Embodiment approach 3

[0011] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the Cartesian impedance control process described in step five of this embodiment is as follows:

[0012] According to the Lagrangian equation, the dynamic characteristics between the position x of the manipulator and the joint torque τ are expressed as formula (2):

[0013] Λ ( x ) x · · + μ ( x , x · ) x · + J ( q ) - T g ( q ) = J ( q )...

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Abstract

The invention provides a control method of a human-machine interaction mechanical arm, which relates to a safe control method of a mechanical arm working under an unknown environment and solves the problem that an operator accidentally injured due to failure of the existing mechanical arm to accurately model the working environment when the mechanical arm works in close contact with the operator. A mechanical arm controller of the invention collects a joint position in a real time manner by a joint sensor and transforms the joint position q to a Descartes position x by the positive kinematics, and calculates the real-time trajectory planning xpg which is provided with a feedback of the Descartes force; the mechanical arm controller also collects the torque Tau by the joint sensor in a real time manner, calculates the expected torque Taur by Descartes impedance control, and calculates the input torque Taum of the mechanical arm joint by the dynamic compensation of a motor. The control method can effectively detect the force from each joint of the mechanical arm; when contacting an object, the mechanical arm can carry out a soft contact; when a collision happens, the mechanical arm can ensure that the contact force from each direction is within the range of the expected force, thus ensuring the safety of the mechanical arm and the operator.

Description

technical field [0001] The invention relates to a control method of a mechanical arm. Background technique [0002] Traditional industrial robots mostly repeat the same manipulation tasks in a modeled environment. Today, more and more robots are being used in imprecisely modeled environments such as medical care, home services, and space exploration. Compared with traditional robots, these robots do not require high speed, but stable, compliant and safe coexistence with humans and the environment is their primary consideration. [0003] The safe operation of the robotic arm can be divided into three categories from the design. One is structural design, including reducing the inertia and weight of the robot and introducing some compliant components, such as flexible joints, elastic links and mechanical damping adjusters, etc., so that the mechanical arm can ensure a certain degree of flexibility when it contacts objects, but it cannot avoid Collision with the environment w...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/18B25J13/08B25J19/02
Inventor 黄剑斌谢宗武熊根良刘宏蒋再男
Owner HARBIN INST OF TECH
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