Radiation-resistant power manipulator control system

A motion control system and control system technology, applied in the field of control, can solve the problems of low automation and low remote operation efficiency, and achieve the effects of enhancing the sense of operation, enhancing the sense of presence, and improving the sense of presence in the operation

Inactive Publication Date: 2018-02-06
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of low automation degree and low remote operation efficiency of the existing radiation-resistant dynamic manipulator system, the present invention adopts servo motion control technology to improve driving operation accuracy, adopts multi-joint linkage control technology to improve the control

Method used

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  • Radiation-resistant power manipulator control system
  • Radiation-resistant power manipulator control system
  • Radiation-resistant power manipulator control system

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0025] Example 1

[0026] Such as Figure 1 to Figure 6 , A control system for radiation-resistant power manipulators, including a central controller and a sub-control system. The sub-control system includes a driving motion control system, a robotic arm motion control system, a tool replacement control system and a remote operation control system; central control The system communicates with the sub-control system; the driving motion control system includes a driving controller, a servo system and a sensor system; the robot motion control system includes a robot arm controller, a teach pendant and a robot arm servo system; the tool replacement control system includes tools Replacement controller, industrial camera and quick change device; remote operation control system includes remote operation controller, main hand sensor and depth camera.

[0027] This is the most basic implementation of the present invention. Servo motion control technology is used to improve driving accurac...

Example Embodiment

[0028] Example 2

[0029] Such as Figure 1 to Figure 6 , A control system for radiation-resistant power manipulators, including a central controller and a sub-control system. The sub-control system includes a driving motion control system, a robotic arm motion control system, a tool replacement control system and a remote operation control system; central control The system communicates with the sub-control system; the driving motion control system includes a driving controller, a servo system and a sensor system; the robot motion control system includes a robot arm controller, a teach pendant and a robot arm servo system; the tool replacement control system includes tools Replacement controller, industrial camera and quick change device; remote operation control system includes remote operation controller, master hand sensor and depth camera; the central control system and the sub-control system are connected through EtherCAT industrial Ethernet. In the driving motion control ...

Example Embodiment

[0031] Example 3

[0032] Such as Figure 1 to Figure 6 , A control system for radiation-resistant power manipulators, which is characterized in that it includes a central controller and a sub-control system. The sub-control system includes a driving motion control system, a robotic arm motion control system, a tool replacement control system, and a remote control system. System: The central control system exchanges information with the sub-control system through the EtherCAT industrial Ethernet bus; the driving motion control system includes a driving controller, a three-axis servo system and a sensor system; the robot motion control system includes a robot arm controller and a teach pendant And the seven-axis servo system; the tool replacement control system includes a tool replacement controller, an industrial camera and a quick change device; the teleoperation control system includes a teleoperation controller, a six-degree-of-freedom master hand, a force / torque sensor and a ...

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Abstract

The invention discloses a radiation-resistant power manipulator control system. The system includes a central controller and a sub control system, the sub control system includes a vehicle movement control system, a mechanical-arm movement control system, a tool replacement control system and a remote operation control system, and the central control system is connected with the sub control systemthrough communication; the vehicle movement control system includes a vehicle controller, a servo system and a sensor system; the mechanical-arm movement control system includes a mechanical-arm controller, a teaching machine and a mechanical-arm servo system; the tool replacement control system includes a tool replacement controller, an industrial camera and a quick replacement device; the remote operation control system includes a remote operation controller, master manipulator sensor and a depth camera; such control mode as 'centralized management and decentralized control effectively achieves radiation-resistant power manipulator control.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a control system for a radiation-resistant power manipulator. Background technique [0002] The radiation-resistant power manipulator is the core equipment in the process of nuclear decommissioning and radioactive waste treatment. China is a big country with nuclear power. With the development of nuclear power and the decommissioning of nuclear facilities, my country's demand for radiation-resistant power manipulators is increasing. At present, the radiation-resistant power manipulators used in China are all imported products. [0003] The motion control of the existing power manipulator adopts the position open-loop control method, which cannot quickly and accurately control the end tool to reach the specified pose; the multi-joint manipulator at the front adopts the single-axis jog control method, which cannot realize multi-axis linkage control; local image assistance is used...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00B25J19/00
CPCB25J9/161B25J13/00B25J19/00
Inventor 魏清平凌乐陈远强刘丝丝周东莫堃董娜于信宾
Owner 中国东方电气集团有限公司
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