Master-slave hydraulic pressure feedback manipulator control system and method for live repair robot

Abstract

The invention relates to a hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and a method thereof. The hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system is quick in processing speed, low in cost and stable and reliable in performance. A hand-held terminal comprises a microprocessor I which is connected with a man-machine interface and an embedded type master controller. The embedded type master controller comprises a microprocessor II which is connected with the microprocessor I through a serial port. The microprocessor is connected with an analog-to-digital (A / D) converter I and a wireless module I. The A / D converter I is connected with a potentiometer. The microprocessor II drives a torque motor through a motor driver. A wireless module II is communicated with the wireless module I. A microprocessor III is connected with an A / D converter II and the potentiometer. At the same time, the microprocessor III is further connected with a digital-to-analog (D / A) converter, the D / A converter is connected with a hydraulic amplifier, and the hydraulic amplifier is connected with a plurality of servo valves. A pressure sensor is installed on an oil inlet-return opening of each servo valve. The pressure sensor is connected with the microprocessor III. Each servo valve is connected with a corresponding hydraulic cylinder. An output shaft of the hydraulic cylinder is connected with the mechanical arm.

Description

technical field [0001] The invention relates to a robot control technology, in particular to a master-slave hydraulic pressure feedback manipulator control system and method for a live repair robot. Background technique [0002] With the continuous development of our country's social economy and the continuous improvement of people's living quality, live work must be carried out in order to realize uninterrupted power transmission in the power distribution network. Artificial live work has its difficulties and limitations. Therefore, it is necessary to develop a high-voltage live work robot with stronger safety and adaptability to overcome the difficulties and limitations of manual live work, and to replace manual live work. It also meets the requirements of the times. . In order to improve the automation level and safety of live work, reduce the labor intensity of operators and the personal threat of strong electromagnetic fields to operators, many countries have carried o...

AI Technical Summary

Problems solved by technology

[0004] ① The first-generation high-voltage live working robot uses two MOTOMAN robotic arms. The operator controls the movement of the robotic arms through the keyboard when performing operations. Since the control system is not open, master-slave control cannot be realized

However, the mechanical arm has no force feedback function, the operator cannot perceive the working environment, and the working content and working efficiency of the robot are greatly limited.

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