Force position feedback control system for flexible robot

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...

AI Technical Summary

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 have unlimited degrees of freedom, but the pneumatic system is complex, the integration is poor, and the precise shape and position of the manipulator cannot be controlled, so the practicability cannot be guaranteed

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