Modeling and control method for specialized robot for picking and placing projectiles

A projectile pick-and-place, control method technology, applied in instruments, manipulators, manufacturing tools, etc., can solve problems such as inability to apply robots, and achieve the effect of accurate and reliable control

Active Publication Date: 2018-06-15
XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing robot control methods cannot be applied to this robot, so a control method is urgen

Method used

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  • Modeling and control method for specialized robot for picking and placing projectiles
  • Modeling and control method for specialized robot for picking and placing projectiles
  • Modeling and control method for specialized robot for picking and placing projectiles

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Embodiment Construction

[0047] The modeling of the present invention and control method are described in detail below in conjunction with accompanying drawing:

[0048] Projectile pick and place special robot modeling

[0049] The modeling process is the process of obtaining the kinematics positive solution formula and kinematics inverse solution formula according to the D-H parameters and coordinate transformation by establishing the coordinate system of each motion axis; specifically:

[0050] Step 1) Coordinate system determination

[0051] The projectile picking and placing special robot has 5 motion axes in total, and the coordinate system of each motion axis is defined as OX i Y i Z i : i=1~5, i represents the current motion axis; among them, Z i Axis is the direction of the i-th motion axis; X i Axis is along Z i-1 Axis and Z i Co-normal direction of axes; Y i The axes are determined by the right-hand rule;

[0052] Redefine the base coordinate system as OX 0 Y 0 Z 0 : The origin o...

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Abstract

The invention belongs to a program-control mechanical arm technology and particularly relates to a modeling and control method for a specialized robot for picking and placing projectiles. By means ofthe method, control over the specialized robot for picking and placing the projectiles is achieved, and projectile picking and placing actions of the robot are precise and reliable. The method comprises the steps of 1, determining a coordinate system; 2, obtaining D-H parameters of the specialized robot for picking and placing the projectiles; 3, conducting coordinate system transformation in a homogeneous transformation matrix manner through the D-H parameters, so that positional information OT5 is obtained; 4, obtaining a kinematics positive solution formula and a kinematics inverse solutionformula, and inputting the kinematics positive solution formula and the kinematics inverse solution formula into an upper computer; and 5, controlling the specialized robot for picking and placing the projectiles through the upper computer, so that the projectile picking and placing actions are completed.

Description

technical field [0001] The invention belongs to the technology of program-controlled manipulators, and in particular relates to a modeling and control method for a special robot for picking and placing projectiles. Background technique [0002] At present, the ammunition of my country's vehicle-mounted weapon system is resupplied through manual handling, which has problems such as high labor intensity for soldiers, low combat rate of fire and poor combat mobility. Establish a robot intelligent automatic supply system, and use special robots to automatically pick and place ammunition, which can realize the rapid supply of ammunition and the rapid combat conversion of vehicle-mounted guns, and complete the flexible, short-term, fast, and intensive mass of large-scale large-caliber shells on the vehicle. Lethal combat missions. [0003] The special robot for picking and placing projectiles is part of the intelligent automatic supply system supporting the vehicle-mounted weapon...

Claims

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Application Information

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IPC IPC(8): B25J11/00G06F17/50
CPCB25J11/002G06F30/20
Inventor 冯艳丽宁志民兰玉乾夏江张颖马少阳
Owner XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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