Live working robot mechanical-arm collaboration force feedback master-slave control method and system

Abstract

The invention relates to a live working robot mechanical-arm collaboration force feedback master-slave control method and system. The live working robot mechanical-arm collaboration force feedback master-slave control system comprises manipulators, mechanical arms and industrial personal computers, wherein six-degree-of-freedom force / torque sensors are mounted at the tail ends of the mechanical arms; during the main manipulator force feedback control, the industrial personal computers calculates the torque data of all joints of main manipulators according to tail-end stress data of the mechanical arms, and controls all the joints of the main manipulators to output torque through control ports of the main manipulators; and six-degree-of-freedom force / torque data serve as scalars of the tail-end stress data of the mechanical arms and comprise two parts; parts of the tail-end stress data come from stress data generated during the contact between the mechanical arms and an environment as well as are collected by the six-degree-of-freedom force / torque sensors mounted at the tail ends of the mechanical arms; and the other parts of the tail-end stress data come from stress data generatedduring the mutual collisions among the mechanical arms. By adoption of the live working robot mechanical-arm collaboration force feedback master-slave control method and system provided by the invention, the live working can be accurately, efficiently and safely completed.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a master-slave control method and system for collaborative force feedback of a live working robot manipulator. Background technique [0002] With the gradual development of live working robots, the traditional man-machine coexistence insulated warehouse operation can no longer meet the control performance and safety requirements in the live working environment. Previously, the operator could remotely control the robot's live working robot through the main operator, which can ensure that the operator is isolated from the high-voltage electric field; , The judgment of the relative position between the robotic arms, between the operation object and the operation environment is more accurate, and there will be no visual blind spots, the operation accuracy is higher, collisions can be prevented, and the operation safety is improved. However, when using the aforeme...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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