Position Feedback Master Hand System of Live Repair Robot

Abstract

The invention relates to a hot-line repair robot position feedback master system which adopts a position and force servo double closed-loop control mode. The hot-line repair robot position feedback master system is high in control accuracy, good in real-time performance, stable and reliable in performance, convenient to operate and capable of meeting requirements of operation tasks of high-voltage hot-line robots. The hot-line repair robot position feedback master system comprises a hand-held terminal, a master controller and a mechanical arm controller. The hand-held terminal comprises a microprocessor I which is respectively connected with a liquid crystal module and a keyboard. A microprocessor II and a microprocessor III are adopted in the master controller. The microprocessor II is connected with the microprocessor I through a serial port and connected with the microprocessor III through a double-port random-access memory (RAM). The microprocessor II is further 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 of a master manipulator. The wireless module I is communicated with a wireless module II. The wireless module II is connected with the mechanical arm controller. The microprocessor III is connected with a motion controller. The motion controller is connected with a motor driver. The motor driver drives a torque motor of the master manipulator.

Description

Technical field: [0001] The invention relates to a robot control technology, in particular to a position feedback main hand system of 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 out research on live work robots since the 1...

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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