Integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot system and control method

Abstract

The invention discloses an integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot system and a control method. The system comprises an omnidirectional mobile motion chassis,a lifting column, a dual seven-freedom-degree mechanical arm, a control module, and a power module; the integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot control methodadopts a layered structure, the control module comprises a second control unit and a first control unit, the second control unit carries out real-time control over the omnidirectional mobile motion chassis, the lifting column and the dual seven-freedom-degree mechanical arm, the first control unit carries out omnidirectional mobile motion chassis path planning and dual seven-freedom-degree mechanical arm path planning real-time calculation. The integrated dual seven-freedom-degree mechanical arm omnidirectional mobile robot system and the control method have more redundant degree of freedom, motion flexibility is good, meanwhile, in combination with the omnidirectional mobile motion chassis, moving in any direction can be carried out, robot autonomous operation flexibility is ensured, andman-machine collaborative operation adaptation is ensured.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to an omnidirectional mobile robot system and control method for an integrated dual 7-degree-of-freedom mechanical arm. Background technique [0002] With the continuous improvement of people's requirements for industry, medical care, and service levels, it is urgent to hope that robots can be more human-like, have two arms, and be able to work collaboratively with humans. A single manipulator is easily subject to environmental constraints. Some tasks, such as the operation of flexible objects, are difficult to complete with a single manipulator. However, a robot system composed of two independent manipulators is not in the same physical coordinate system and control system space. Coordination is difficult, and installation and calibration work is time-consuming. At the same time, for some tasks that can be done by a single robotic arm, such as handling rigid objects...

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Problems solved by technology

[0006] Aiming at the defects of the prior art, the purpose of the present invention is to provide an integrated double 7-degree-of-freedom mechanical arm omnidirectional mobile robot system and control method, aiming at solving the

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