Control method of human-machine cooperative system

Abstract

The invention discloses a control method of a human-machine cooperative system. Limbs, a mechanical arm and a control system are comprised. The mechanical arm comprises an end effector and a force sensing handle, wherein the force sensing handle is arranged on the effector and is used for measuring a force applied to one of the limbs; the control system generates a control input to the mechanical arm according to the magnitude of the force obtained by the force sensing handle and drives the end effector to arrive a predetermined destination; the control method comprises the following steps: S1, measuring the magnitude and direction of the force applied to the mechanical arm by one of the limbs through the force sensing handle and defining the force as an error between a predetermined trajectory and a real trajectory in a limb model; S2, integrating the force measured in the S1 as a feedback signal required in the control system so as to differentiate external disturbance from the force applied by one of the limbs; and S3, feeding the feedback signal obtained in the S2 back to the control system, wherein the control system controls the feedback signal for minimizing treatment to realize that the mechanical arm autonomously follows one of the limbs to move according to an impedance model.

Description

technical field [0001] The invention relates to a control method of a man-machine cooperation system. Background technique [0002] With the development of science and technology, the demand for human-machine cooperation is becoming more and more extensive. Human-machine collaboration can not only reduce human workload, cost and fatigue risk, but also improve production efficiency. In industrialized production, many emerging production tasks are difficult to be automated due to their high complexity on the one hand, and difficult to perform manual operations because they are too heavy, which requires both equipment and labor to complete. [0003] However, in human-machine collaboration, it is difficult for the machine to understand the human's movement intention, so that the machine cannot work autonomously. Contents of the invention [0004] The technical problem to be solved by the present invention is to provide a control method of a man-machine cooperation system by ...

AI Technical Summary

Problems solved by technology

In industrialized production, many emerging production tasks are difficult to automate due to their high complexity on the one hand, and difficult to perform manual operations due to their heavy workload on the other hand, which requires both equipment and labor to complete

[0003] However, in human-machine collaboration, it is difficult for the machine to understand human motion intentions, so that the machine cannot work autonomously

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