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A Gravity Maintenance Method for Master-Slave Heterogeneous Manipulators

A technology of manipulators and main hands, which is applied in the direction of manipulators, manufacturing tools, complex mathematical operations, etc., can solve the problems that do not take into account the gravity maintenance technology of manipulators, achieve the effects of rich motion modes, less CPU usage, and improved compensation effects

Active Publication Date: 2020-12-25
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

But this scheme does not take into account the gravity maintenance technology of the manipulator

Method used

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  • A Gravity Maintenance Method for Master-Slave Heterogeneous Manipulators
  • A Gravity Maintenance Method for Master-Slave Heterogeneous Manipulators
  • A Gravity Maintenance Method for Master-Slave Heterogeneous Manipulators

Examples

Experimental program
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Effect test

Embodiment 1

[0027] A method for maintaining gravity of a master-slave heterogeneous manipulator, comprising the following steps:

[0028] Offline quality estimation, respectively define the three-dimensional base coordinate system of the main hand and the slave hand work space of the manipulator; select the cube in the main hand base coordinate system, and divide its interior into several equal cube blocks; set the cube block vertices The initial mass of the manipulator is controlled to move the main hand of the manipulator to each vertex and the estimated mass of the main hand at each vertex is estimated by the recursive algorithm of proportional differential control to obtain the mass value in the real-time online gravity compensation;

[0029] Real-time online interpolation gravity compensation, according to the cube blocks divided in the offline quality estimation process to obtain the coordinate position of each vertex of the cube block where the main hand of the manipulator is locate...

Embodiment 2

[0032] A method for maintaining gravity of a master-slave heterogeneous manipulator, comprising the following steps:

[0033] Offline quality estimation, respectively define the three-dimensional base coordinate system of the main hand and the slave hand work space of the manipulator; select the cube in the main hand base coordinate system, and divide its interior into several equal cube blocks; set the cube block vertices The initial mass of the manipulator is controlled to move the main hand of the manipulator to each vertex and the estimated mass of the main hand at each vertex is estimated by the recursive algorithm of proportional differential control to obtain the mass value in the real-time online gravity compensation;

[0034]Real-time online interpolation gravity compensation, according to the cube blocks divided in the offline quality estimation process to obtain the coordinate position of each vertex of the cube block where the main hand of the manipulator is located...

Embodiment 3

[0049] A method for maintaining gravity of a master-slave heterogeneous manipulator, comprising the following steps:

[0050] Offline quality estimation, respectively define the three-dimensional base coordinate system of the main hand and the slave hand work space of the manipulator; select the cube in the main hand base coordinate system, and divide its interior into several equal cube blocks; set the cube block vertices The initial mass of the manipulator is controlled to move the main hand of the manipulator to each vertex and the estimated mass of the main hand at each vertex is estimated by the recursive algorithm of proportional differential control to obtain the mass value in the real-time online gravity compensation;

[0051] Real-time online interpolation gravity compensation, according to the cube blocks divided in the offline quality estimation process to obtain the coordinate position of each vertex of the cube block where the main hand of the manipulator is locate...

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Abstract

The invention discloses a gravity maintaining method of a master-slave heterogeneous mechanical hand, and relates to the technical field of robot automatic control. The method comprises the steps of offline mass prediction and real-time online interpolation gravity compensation. The prediction mass of a main hand in each vertex is estimated by a proportional derivative control recursive algorithm;the mass value in the real-time online gravity compensation can be obtained; and through three linear interpolation calculation, a gravity compensation value is obtained, and the real-time online gravity compensation is completed for maintaining the mechanical hand self balancing. The gravity maintaining method of the master-slave heterogeneous mechanical hand has the advantage that the real-timeonline cavity maintenance is completed through the gravity compensation value obtained through combining the blocking offline mass prediction calculation with the real-time online calculation.

Description

technical field [0001] The invention relates to the technical field of robot automatic control, in particular to a method for maintaining gravity of a master-slave heterogeneous manipulator. Background technique [0002] Safety issues in the field of nuclear industry have always been a concern of human beings in the field of nuclear waste disposal and maintenance and decommissioning of nuclear power plants. With the continuous development of robot technology led by artificial intelligence technology, more and more robots are being used in the nuclear industry to replace humans to achieve front-line work related to nuclear processing, and the application of robots in the nuclear industry has gradually expanded from the initial single job In more complex fields, the degree of freedom of robots has also changed from the initial one-dimensional, three-dimensional, to six-dimensional, seven-dimensional or even higher dimensions. Teleoperation technology for more complex operatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/18B25J3/00
CPCB25J3/00G06F17/18
Inventor 刘丝丝魏清平凌乐陈远强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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