Movable mechanical arm control system and method based on MR and motion planning technology

Abstract

The invention discloses a movable mechanical arm control system and method based on MR and motion planning technology. The movable mechanical arm control system is composed of a movable platform, a mechanical arm assembly, a depth camera, a power management system, an MR display device, a posture capturing device, an MR force feedback device and a background industrial personal computer. The control method comprises the steps that 3D information of a dangerous environment is shown before an operator through the virtual technology, the operator controls a mechanical arm on the site through a simulation arm with the MR force feedback device, the MR display device reconstructs the site disposal situation through the virtual technology, and the operator can have immersive third dimension. According to the movable mechanical arm control system and method based on the MR and motion planning technology, traditional remote control type mechanical arm control is changed into interactive intelligent control, the beneficial effects that using is more flexible, the site environment is truly simulated, the remote control experience is extremely good, and operation precision and accuracy degreeare high are achieved, the movable mechanical arm control system and method based on the MR and motion planning technology are used for detecting and grabbing tasks in the dangerous environment, and the operator is thoroughly liberated from the dangerous environment.

Description

technical field [0001] The invention belongs to the field of movable manipulator control, in particular to a movable manipulator control system and method based on MR (mixed reality technology) and motion planning technology. Background technique [0002] Small articulated robotic arms have been widely used in various industries because of their ability to perform a certain degree of detection and grasping tasks. However, the existing small articulated manipulators have the following disadvantages: [0003] 1. Inflexible operation; [0004] 2. The load of the robotic arm is small; [0005] 3. The back-end controller and the front-end robotic arm are one-way control without interaction; [0006] 4. The remote control experience in dangerous areas is poor, and the precision control is not ideal; [0007] 5. Poor mobile performance. Contents of the invention [0008] In order to overcome the deficiencies in the existing prior art, the present invention provides a movable...

AI Technical Summary

Problems solved by technology

[0005] 3. The back-end controller and the front-end robotic arm are one-way control without interaction;

[0006] 4. The remote control experience in dangerous areas is poor, and the precision control is not ideal;

[0007] 5. Poor mobile performance

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