Force/Torque Feedback Control Remote Manipulation System

A control system and feedback control technology, applied in the direction of manufacturing tools, manipulators, etc., can solve problems such as the inability to realize real-time feedback of the working force/torque of the joints at the end of the manipulator, and achieve improved maintenance effects, strong fault tolerance, and a high degree of intelligence. Effect

Active Publication Date: 2015-08-19
常州节卡智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, product-based tactile devices (such as PHANTOM, Omega, Delta, etc.) cannot provide real-time feedback on the working force / torque of the end joint of the maintenance manipulator in a specific environment

Method used

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  • Force/Torque Feedback Control Remote Manipulation System
  • Force/Torque Feedback Control Remote Manipulation System

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Embodiment Construction

[0028] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0029] Such as figure 1 As shown, in this embodiment, the force / torque feedback control remote manipulation system provided according to the present invention includes: a master manipulator 10, an industrial computer 20, a slave manipulator 30 with a force / torque feedback device 31 and a robot end effector module 41. The industrial computer 20 includes a hand tremor and inertial force compensation module 21 , a gravity compensation module 22 at the end of the control arm, a motion scaling module 2...

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Abstract

The invention provides a remote control system capable of performing force / moment feedback control, which is particularly applicable to remote maintenance and control operations of magnetic confinement fusion (MCF) equipment in international thermonuclear experimental reactor (ITER) engineering. The system comprises a main control arm, an industrial personal computer, a secondary control with a force / moment feedback device and a robot end execution module. The system adopts a remote control mechanical arm with a force / moment feedback control function so as to realize force tactile immediacy sense during maintenance of the MCF equipment, has the advantages of accuracy in positioning of three-dimensional space displacement, response sensitivity and the like and provides an extremely good system platform for human-computer interaction for maintenance of nuclear fusion facilities. A control module of the remote control system can realize force tactile feedback control well and has the advantages of low cost, excellent performance, simplicity in operation, high accuracy and reliability, high robustness and the like.

Description

technical field [0001] The invention relates to the fields of construction, operation and maintenance of nuclear power plants, and in particular to a control system with force / torque feedback control function suitable for remote maintenance of MCF (Magnetic Confinement Fusion) equipment in the ITER project. Background technique [0002] With the rapid development of remote control technology, the interaction between the robot end effector and the environment needs to be realized by tactile devices to achieve the "immersive" perception effect. The development of nuclear fusion facilities and the design of MCF equipment urgently require a remote control system based on force / torque feedback control. Currently, commercial haptic devices (such as PHANTOM, Omega, Delta, etc.) cannot provide real-time feedback on the working force / torque of the end joint of the maintenance manipulator in a specific environment. In view of this defect, it is of great significance to develop a remo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J3/00B25J13/08
Inventor 曹其新王鹏飞何强
Owner 常州节卡智能装备有限公司
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