Auxiliary mechanism for master and slave attitude control and control method

An auxiliary mechanism and attitude control technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of inability to adjust the attitude of the main hand and not suitable for use, and achieve the effect of accurate adjustment of the main hand attitude, wide application and easy operation.

Active Publication Date: 2016-07-13
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some special cases, it is not appropriate to use this adjustment method
Because the main hand usually does not have a motor to control the attitude, it is impossible to directly adjust the attitude of the main hand according to the attitude of the slave hand.

Method used

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  • Auxiliary mechanism for master and slave attitude control and control method
  • Auxiliary mechanism for master and slave attitude control and control method
  • Auxiliary mechanism for master and slave attitude control and control method

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Embodiment Construction

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] combine figure 1, usually, the 3-DOF master hand does not install a motor dedicated to controlling the attitude, so it cannot be adjusted directly by the slave hand attitude, and can only be adjusted in other ways. By triggering the auxiliary mechanism switches (2, one for each of the left and right mechanical master hands), the synchronous movement relationship between the master and slave hands is closed, and the slave hands are stationary. Driven by the motor, the auxiliary mechanism flips from the non-working area to the working area, and at the same time, the internal posture data is transmitted from the hand and the auxiliary mechanism, and the current posture of the slave hand (this posture can be combined with the movement of each motor of the slave hand and the slave hand robot). kinematics) is transmitted to the host...

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Abstract

The invention provides an auxiliary mechanism for master and slave attitude control and a control method.A master manipulator attitude adjusting method for master and slave control is used for a master manipulator with no attitude motor.When the master attitude and the slave attitude are consistent, the auxiliary mechanism is not needed, and at the moment, the auxiliary mechanism is away from the working area of the main manipulator and does not affect master-slave operation.When the maser attitude and the slave attitude are not consistent due to some reasons, the auxiliary mechanism turns over to enter the working area, the master manipulator and the auxiliary mechanism are in butted connection, and therefore the master attitude and the slave attitude are recovered to be consistent.The auxiliary mechanism is mainly composed of a turnover part and an attitude adjusting part.The turnover part can move the attitude adjusting part to the ideal working position according to actual requirements.The efficient and accurate master manipulator attitude adjusting method is provided for the master manipulator with no attitude motor, and working efficiency of workers is improved.

Description

technical field [0001] The invention relates to an auxiliary mechanism for attitude control, in particular to an auxiliary mechanism and a control method for master-slave attitude control. Background technique [0002] In the master-slave manipulator system, when the attitudes of the master and slave hands are inconsistent, the way of adjusting the attitude of the slave hand is usually adopted. But in some special cases, it is not appropriate to use this adjustment method. Because the master hand usually does not have a motor to control the attitude, it is impossible to directly adjust the attitude of the master hand according to the attitude of the slave hand. This requires a master-hand posture adjustment method and an auxiliary mechanism that can be used for master-slave posture control to restore the consistency of the master and slave hands. Contents of the invention [0003] The purpose of the present invention is to provide an auxiliary mechanism and control metho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00
CPCB25J3/00
Inventor 于凌涛汤泽旭郑红杰王正雨王文杰杨景于晓砚闫昱晟邵兆稳任思旭
Owner HARBIN ENG UNIV
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