Force position feedback control system for flexible robot

A feedback control system and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of manipulator shape and position control, unguaranteed practicability, complex pneumatic system, etc., and achieve modularization and integration. , The measurement is stable and reliable, and the flexibility is good.

Active Publication Date: 2018-11-30
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
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  • Claims
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Problems solved by technology

However, this kind of joint structure is complex, the degree of freedom is low, and the application has great limitations.
In addition, there are some pneumatic manipulators based on elastic elements, whose joints h

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  • Force position feedback control system for flexible robot
  • Force position feedback control system for flexible robot
  • Force position feedback control system for flexible robot

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0028] see figure 1 and figure 2 , the force position feedback control system for flexible robots provided by the preferred embodiment of the present invention, the force position feedback control system includes a main control circuit board 7, a strain sensor 1f, a power supply, an operational amplifier, an analog-to-digital converter, a current detection Resistance, angle PI controller, mot...

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Abstract

The invention belongs to the technical field relevant to flexible robot sensing control, and discloses a force position feedback control system for a flexible robot. The system comprises a main control circuit board and a strain sensor which are respectively arranged on the flexible robot; a Wheatstone bridge, a force position sensing module and a driving control module are arranged on the main control circuit board; the force sensor module is connected with the driving control module; the driving control module is connected with a motor of the flexible robot; the Wheatstone bridge is electrically connected with the strain sensor and the force sensing module; the force sensing module comprises a shape sensing module for obtaining the deformation position according to the offline storage strain mode and the received strain signal, and a contact force sensing module for solving the deformation position contact force through the deformation position shape and the motor pulling force. Theshape and stress sensing of the flexible robot are realized through the strain; through the closed loop control, the accurate shape and position control are realized through closed loop control; the flexibility is high; the integration degree is high.

Description

technical field [0001] The invention belongs to the technical field related to the perception control of flexible robots, and more specifically relates to a force-position feedback control system for flexible robots. Background technique [0002] The robot industry is developing rapidly, and robots play an important role in all walks of life and human social life. The traditional rigid robot perception and control technology is mature, so it has been widely used. However, due to the poor self-adaptability of rigid robots, complex structures and control algorithms are required to make them work in unstructured environments. Flexible robots have the characteristics of high degrees of freedom, high adaptability, and high force-to-weight ratio, which make up for the shortcomings of rigid robots, and are gradually being used more and more. In the field of engineering applications, soft robots can change their shape to adapt to the environment; in the interaction with humans, so...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J15/00
CPCB25J9/1602B25J9/1694B25J15/0009
Inventor 郭家杰冯勋锂杨露叶熊蔡华
Owner HUAZHONG UNIV OF SCI & TECH
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