Replacement method for special tool for hot-line robot based on force feedback master-slave control

Abstract

The invention provides a replacement method for a special tool for a hot-line robot based on force feedback master-slave control. A force feedback master-slave control system is composed of a mechanical arm, a main manipulator and an industrial personal computer. The industrial personal computer calculates torque data of various joints of the main manipulator according to mechanical arm tail end force bearing data, the joints of the main manipulator are controlled to output torques through a control interface of the main manipulator, the main manipulator is made to feed back borne force, and the force of the mechanical arm is determined by operators according to the borne force fed back by the main manipulator. The operators change the pose of the tail end of the main manipulator, the industrial personal computer calculates the expected value of the velocity vector of the tail end of the mechanical arm according to angle data of the rotating joints of the main manipulator, the mechanical arm is controlled to move according to the expected value through a control interface of the mechanical arm, and the force of the mechanical arm is changed. By means of the replacement method, thesense of immediacy of working is improved, and whether various operations are accurately performed in place can be judged more accurately.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a method for replacing a special tool of a live working robot based on force feedback master-slave control. Background technique [0002] Today's industrial robot-specific tool changes allow for greater flexibility in the application of robots by enabling the robot to swap out different end effectors or peripherals including, for example, spot welding guns, grippers, vacuum tools, pneumatic and electric motor etc. [0003] 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 th...

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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