Calculating method for clamping force of mechanical claw of teleoperation robot and mechanical claw control method

Abstract

The invention discloses a calculating method for the clamping force of a mechanical claw of a teleoperation robot and a mechanical claw control method. The calculating method for the clamping force of the mechanical claw of the teleoperation robot includes the steps that a CAD three-dimensional model is used for obtaining the length and the mass of each connecting rod of a mechanical claw, and the single side arm of the mechanical claw is of a parallelogram mechanism; open chain decomposing is conducted on a closed-chain mechanism of the single side arm of the mechanical claw, and an open chain I and an open chain II are formed; the driving joint torque of the closed-chain mechanism is calculated according to the joint torque of the open chain I and the joint torque of the open chain II; the generalized momentum is adopted for designing a disturbance torque observer, and the residual vector is observed according to the disturbance torque observer; laplace transformation is conducted on the differential coefficient of the residual vector, and the disturbance torque is calculated; and the mechanical claw clamping force is calculated according to the disturbance torque.

Description

technical field [0001] The invention relates to robot control technology, in particular to a calculation method for the clamping force of a manipulator claw of a remote operation robot and a control method for the manipulator claw. Background technique [0002] Teleoperation robot refers to a remote operating system that can complete complex operations in an environment that is inaccessible or harmful to humans under the operation of humans. It is widely used in telemedicine, space exploration, ocean development, nuclear Environmental work and other fields. [0003] When the teleoperation robot operates in an environment with high temperature, high corrosion, strong interference, and large radiation, the teleoperation manipulator claw is loaded on the front end of the robotic arm of the teleoperation robot, which is an important medium for the physical interaction between the robot body and the environment. As industrial robots With the continuous development of service rob...

AI Technical Summary

Problems solved by technology

The task of grasping objects can no longer be completed simply by opening and closing the grippers. Considering that the gripping force in the grasping process must be reliably controlled, as well as to achieve dexterity and autonomy, position control alone cannot meet actual needs. , therefore, force control has gradually become an important research direction in the field of robot control

[0004] The traditional force control method at the end of the manipulator is usually based on the force sensor, but the use of the force sensor will not only cause high cost, but also limit the application in special environments such as high temperature, high corrosion, and strong interference, and there is a lot of noise in the sensor. The environmental stiffness is unknown, which seriously affects the control performance of the manipulator. A large number of sensors are used in an unstructured environment, with low sensitivity, high power consumption, and difficult assembly. It is difficult to complete complex tasks.

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