Six-foot robot control system and control method thereof

A technology of a hexapod robot and a manipulation system, which is applied to the manipulation system and manipulation field of a hexapod robot, can solve the problems of complex manipulation, poor real-time communication, and poor man-machine coordination and integration.

Active Publication Date: 2015-02-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problems of poor real-time communication, complicated manipulation and poor human-machine cooperation and integration of the hexapod robot control system

Method used

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  • Six-foot robot control system and control method thereof
  • Six-foot robot control system and control method thereof
  • Six-foot robot control system and control method thereof

Examples

Experimental program
Comparison scheme
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specific Embodiment approach 1

[0124] Specific implementation mode one: the operation interface of the hexapod robot manipulation system is as follows: figure 1 Shown; the hexapod robot control system, including the following modules: motor enable control module, stop module, parameter setting module, position reset module, pose control module, gait control module, single-leg control module, standing and retracting control module, wheel control module and position display module;

[0125] The motor enabling control module is used for the power-on control of the robot's action motor;

[0126] The stop module is used for emergency stop and stop control of robot execution actions;

[0127] The display interface of the parameter setting module is as follows: figure 2 As shown; the parameter setting module is to input the parameters of the robot, including:

[0128] LegLength_1 / 2 / 3 parameter input sub-module, that is, base segment length, thigh length and calf length parameter input sub-module; used for base...

specific Embodiment approach 2

[0196] Embodiment 2: The hexapod robot control system is developed on the basis of Visual C++6.0, and communicates with the control system by embedding the dynamic link library Pcomm32 provided by UMAC.

[0197] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0198] Specific embodiment three: utilize the method for manipulating a robot with a hexapod robot manipulating system, comprising the following steps:

[0199] Step 1: Run the motor enable control module to make the motor in working state;

[0200] Step 2: Run the position reset module to set the initial position of the robot's legs in the local coordinate system, so that the robot can return to zero;

[0201] Set the initial position of the robot's single leg of the six-legged Choose_CS_1 / 2 / 3 / 4 / 5 / 6 in the local coordinate system, including: the setting of the x position Ed_xPos, the setting of the y position Ed_yPos in the local coordinate system, and the setting of the z position Ed_zPos set up;

[0202] Step 3: According to the actual situation of the robot, run the system parameter setting module and set the system parameters; including:

[0203] Enter LegLength_1 / 2 / 3, that is, the length of the base segment, the length of the thigh and the length of the calf;

[0204]...

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Abstract

The invention provides a six-foot robot control system and a control method thereof, and relates to the robot control system and the control method thereof. The objective of the invention is to solve problems that the six-foot robot control system is poor in communication real-time performance, complex in control and poor in man-machine cooperation and integration. The six-foot robot control system comprises the following models: a motor enabling control model, a stop module, a parameter setting module, a position reset module, a posture control module, a gait control module, a single leg control module, a standing and retracting control module, a wheel type control module and a position display module. The robot is controlled by utilizing the six-foot robot control system so that communication real-time performance of the robot control system can be enhanced, control complexity of the robot can be reduced and man-machine cooperation and integration can be enhanced. The six-foot robot control system is suitable for six-foot robot control.

Description

technical field [0001] The invention relates to a robot manipulation system and manipulation method. Background technique [0002] Electric drive hexapod robot manipulation system is a complex system. In this system, people obtain information from the operated object through the senses, make action decisions through thinking, and execute them by hands, feet or certain parts of the human body to form operational behaviors. The result of the operation makes the machine enter a new state, and this new state reflects new signals from the environment or display instruments, and may make the operator make new operations. [0003] The design of the control system is a major change to the traditional design that only considers the machine. In the past, the robot system only focused on the design of the robot body and the control system, and did not optimize the real-time performance, simplicity and human-machine collaboration of the control system. This design regards the operatin...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘振于海涛刘宇飞高海波邓宗全丁亮李楠
Owner HARBIN INST OF TECH
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