Man-machine interactive manipulator control system and its control method

Abstract

The invention discloses a man-machine interactive control system and method for a manipulator. The control system comprises a target space coordinate information acquisition device, a programmable controller and a drive device. The target space coordinate information acquisition device transmits acquired sensor data to a controller, and a target coordinate positioning module performs coordinate transformation and calculates three-dimensional space coordinate values; and the coordinate values and some compensation attitude description serve as input of a network model to obtain some kind of feasible solving values of joints of the manipulator, and angles of the joints are rotated according to the solving values to control a drive module to complete corresponding operations. By means of the man-machine interactive control system and method, defects of operating modes of robots in unstructured environments can be offset, control tension of operators is greatly reduced, and intensions of the operators can be described and achieved easily.

Description

technical field [0001] The invention relates to the control technology of various manipulators, in particular to the control technology of the manipulator using human-computer interaction to track the target. Background technique [0002] At present, with the development of science and technology, the application fields of manipulators continue to expand. At present, manipulators are not only used in traditional manufacturing industries such as mining, metallurgy, petroleum, chemical, shipping and other fields, but also have begun to expand to nuclear energy, aviation, aerospace, etc. , Medicine, biochemistry and other high-tech fields as well as household cleaning, medical rehabilitation and other service industries. Such as smart prosthetics, explosive-disposal robots, manipulators for the elderly and the disabled, etc. [0003] The so-called control method of the manipulator generally refers to the control method of the robot. [0004] At present, according to the diffe...

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Problems solved by technology

[0009] 3. The working position of the robot changes, and it is impossible to accurately detect the position and attitude of the working object. At present, the robot is controlled by the master-slave operation mode, that is, through the operation of the "master hand" handle or button , to adjust the movement position of the "slave hand" (that is, the manipulator that actually operates the work) at any time, so that the robot can operate on the target, and personnel are closely involved in its operation process, such as a master-slave operation riot robot, etc.

[0011] 1. The operator must manipulate all the joints of the "main hand" to make the "slave hand" make corresponding movements. The whole control process is complicated and lengthy

[0012] 2. Due to the error of the operator's visual inspection and the difficulty of accurately controlling the operating range of the "master hand", in the process of adjusting the "master hand", the "slave hand" often moves "not in place" or "moves out of place". It takes multiple adjustments to make the "slave hand" reach the required position, which is very inconvenient

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