An integrated control method for an omnidirectional intelligent mobile platform and a robotic arm
A mobile platform and integrated control technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited freedom of work in the workspace of industrial robots, achieve the goal of expanding work freedom and workspace, and ensuring machining accuracy Effect
Active Publication Date: 2020-06-09
BEIJING SATELLITE MFG FACTORY
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Problems solved by technology
[0004] The technology of the present invention solves the problem: overcomes the deficiencies of the prior art, and provides an integrated control method of an omnidirectional intelligent mobile platform and a mechanical arm to solve the problem of limited working space and working freedom of industrial robots
Method used
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Embodiment Construction
[0037] In order to make the purpose, technical solution and advantages of the present invention clearer, the following will further describe the public implementation manners of the present invention in detail with reference to the accompanying drawings.
[0038] refer to figure 1 , shows a flow chart of the steps of an integrated control method of an omnidirectional intelligent mobile platform and a robotic arm in an embodiment of the present invention. In this embodiment, the integrated control method of the omnidirectional intelligent mobile platform and the mechanical arm includes:
[0039] In step 101, the received control instruction is analyzed to obtain a first sub-control instruction and a second sub-control instruction.
[0040] In this embodiment, the first sub-control instruction can be used to control the omnidirectional intelligent mobile platform, and the second sub-control instruction can be used to control the mechanical arm.
[0041] Step 102, judging the w...
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The invention discloses an integrated control method of an omnidirectional intelligent mobile platform and a mechanical arm. The integrated control method comprises the following steps: analyzing a received control command to obtain a first sub control command and a second sub control command, wherein the first sub control command is used for controlling the omnidirectional intelligent mobile platform; the second sub control command is used for controlling the mechanical arm; judging the working state of the omnidirectional intelligent mobile platform and the mechanical arm; if determining that both the omnidirectional intelligent mobile platform and the mechanical arm are in the ready mode and are positioned at the stations, controlling the mechanical arm to execute the action indicated by the second sub control command; after the mechanical arm executes and finishes the action indicated by the second sub control command, judging whether to permit to have location update; and if yes,controlling the omnidirectional intelligent mobile platform to execute the action indicated by the first sub control command. With adoption of the integrated control method, the problem that the working space and the working degree of freedom of an industrial robot are limited is solved.
Description
technical field [0001] The invention belongs to the technical field of control engineering, and in particular relates to an integrated control method of an omnidirectional intelligent mobile platform and a mechanical arm. Background technique [0002] Industrial robot technology is becoming more and more mature, and it is the most widely demanded type of robot in the market. Its typical applications include handling robots, welding robots, gluing robots, workpiece loading and unloading robots, etc. Most robots have 3 to 6 degrees of freedom of movement, flexible movement, and strong operability; and industrial robots can generally achieve a movement accuracy of less than 0.1 mm, grab objects weighing up to one ton, and stretch up to three or four meters ; Not only can complete high-intensity grabbing action, but also can complete very fine engraving process. In some heavy and long-term operations and dangerous and harsh environments, it can replace manpower to work, saving l...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 徐建萍刘净瑜王颜张加波张斌漆嘉林于荣荣张文捷
Owner BEIJING SATELLITE MFG FACTORY