Force feedback master-slave control method and system for live working robot
A technology for live operation and control method, applied in the field of electric power, can solve the problem of difficulty in judging whether the operation accuracy meets the operation requirements, etc., and achieve the effects of improving operation safety, reducing danger, and improving convenience and accuracy.
Inactive Publication Date: 2018-09-28
NANJING UNIV OF SCI & TECH
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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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[0051] Taking fixing the C-type clamp 1111 in the lapping operation of branch leads as an example, the end of the first mechanical arm 43 is equipped with a clamping tool, which needs to clamp the C-type clamp 1111 to fix the C-type clamp 1111 on the wire 111 .
[0052] When the operator is operating the first main operator, the first main operator sends the angle data of the six rotary joints 501, 502, 503, 504, 505, and 506 to the second industrial computer, and the second industrial computer The conversion relationship between the angle data of the six rotary joints of the main manipulator and the end pose data of the main manipulator is calculated to obtain the end pose data of the first main manipulator, and the end pose data of the first main manipulator is obtained by differential operation The first master operator's terminal velocity data.
[0053] The second industrial computer calculates the control amount of the first mechanical arm 43 by using the speed feed-forwa...
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The invention relates to a force feedback master-slave control method and system for a live working robot. Six-degree-of-freedom force / torque sensors are mounted at the tail ends of mechanical arms. During the force feedback control of a main manipulator, an industrial personal computer works out the torque data of each joint of the main manipulator according to the force data, collected by the six-degree-of-freedom force / torque sensors, of the tail ends of the mechanical arms and controls the output torque of each joint of the main manipulator through a control interface of the main manipulator. When the poses of the mechanical arms are controlled, the industrial personal computer works out the expected values of the velocity vectors at the tail ends of the mechanical arms according to the angle data of each rotating joint of the main manipulator, and the movement of the mechanical arms is controlled according to the expected values through control interfaces of the mechanical arms. By the adoption of the force feedback master-slave control method and system for the live working robot, the live work can be completed accurately, efficiently and safely.
Description
technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a force feedback master-slave control method and system for a live working robot. 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 aforementioned live-working robot to...
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Login to View More IPC IPC(8): B25J13/00B25J9/16
CPCB25J13/00B25J9/16B25J9/1602
Inventor 郭健汤冯炜郭毓吴禹均韩若冰龚勋
Owner NANJING UNIV OF SCI & TECH