Double-arm inspection robot mass center automatic adjustment control system and method
An inspection robot and automatic adjustment technology, applied in general control systems, control/regulation systems, adaptive control and other directions, can solve the problems of inability to guarantee the dynamic stability of the robot's center of mass, inability to guarantee the stable state of the robot, and high modeling accuracy requirements.
Inactive Publication Date: 2017-06-09
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI +1
View PDF4 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Wu Dawei et al planned the position of the counterweight through model calculation to adjust the center of mass of the robot to achieve stable motion of the robot. This method requires high modeling accuracy [Wu Dawei, Ruan Yi, Ren Zhibin. Based on the production system and Trajectory-optimized control of line-following robots [J]. Computer Engineering and Design, 2008, 29(11): 2868-2870.]; Zhu Xinglong et al. proposed a method to adjust the center of mass by controlling the position of the counterweight, using static moment balance The equation preliminarily estimates the position of the counterweight. When the counterweight reaches the estimated position, the output of the inclination sensor is used to adjust the position of the counterweight to stabilize the robot in a horizontal attitude. This method can ensure that the robot is finally in a stable state, but it cannot guarantee the movement process. The robot is always in a stable state, that is, the dynamic stability of the robot's center of mass cannot be guaranteed [Zhu Xinglong, Wang Hongguang, Fang Lijin, et al. Adjusting and controlling the center of mass of an autonomous obstacle-crossing inspection robot [J]. Robotics, 2006, 28(4): 385- 388.]
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0068] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0069] The inspection robot is composed of a walking obstacle-surpassing mechanism, a center-of-mass adjustment mechanism and a control box, such as figure 1 shown. The robot walking obstacle mechanism is composed of two wheel-claw-arms (composite arms), and each arm has a walking joint ( figure 1 (1)), wrist joint ( figure 1 (2)), telescopic joint ( figure 1 (3)) and the revolute joint ( figure 1 (4)), the end of the arm is equipped with a gripper, which can grasp the wire. The center-of-mass adjustment mechanism of the robot consists of a double-arm guide rail and a control box guide rail, which are respectively driven by three moving joints ( figure 1 (5) and ( figure 1 (6)) can realize the horizontal movement of the two arms and the control box along the guide rail; the control box is equipped with the robot control system and power ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a double-arm inspection robot mass center automatic adjustment control system and a double-arm inspection robot mass center automatic adjustment control method. A tilt angle sensor is arranged in a control box of a robot, is connected with a processor by means of an A / D conversion circuit, detects a tilt angle of the robot and outputs a corresponding analog voltage signal, the analog voltage signal is converted into a digital signal by means of the A / D conversion circuit, and the digital signal is transmitted to the processor; a displacement sensor is arranged on a moving motor of each joint, is connected with the processor, acquires displacement of each joint relative to a respective zero point, and transmits the displacement to the processor; and the processor s connected with a joint motor driver by means of an RS232 communication converter, and transmits a control command to a joint motor driver to drive the motor to move. The double-arm inspection robot mass center automatic adjustment control system and the double-arm inspection robot mass center automatic adjustment control method can enable the robot to maintain a stable state during staggered motion of the double arm in the presence of modeling errors and interference.
Description
technical field [0001] The invention relates to the field of center-of-mass control of inspection robots, in particular to a system and method for automatically adjusting the center of mass of a dual-arm inspection robot. Background technique [0002] The transmission line inspection robot with a wheel-arm composite structure is a common type of inspection robot at present. This kind of robot realizes the robot walking on the overhead transmission line and crossing line obstacles through the wheel-arm composite structure. When the robot crosses the obstacle, it needs to adjust the movement of each joint in the state of single arm hanging on the line so that the off-line arm can cross the obstacle. The posture change of the robot when it crosses the obstacle changes the mass distribution of the robot, which causes the robot to tilt, causing the robot to be in an unstable state under the additional overturning moment. Although the wire hanging arm can provide a certain clampin...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05D1/0825G05B13/042
Inventor 王洪光张珏姜勇李瀚儒李贞辉许继葵张成巍罗红伍衡宁宇
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI