Mechanical arm force feedback control system and method based on embedded type motion controller

A feedback control system and motion control technology, applied in the field of robotic arm control, can solve problems such as lack of external perception functions, achieve good real-time performance, low development and manufacturing costs, and reduce system complexity.

Inactive Publication Date: 2019-07-05
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In early applications, the robotic arm only played the role of carrying or transferring parts, and i...

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  • Mechanical arm force feedback control system and method based on embedded type motion controller
  • Mechanical arm force feedback control system and method based on embedded type motion controller
  • Mechanical arm force feedback control system and method based on embedded type motion controller

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Embodiment Construction

[0030] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0031] Such as figure 1As shown, a mechanical arm force feedback control system based on an embedded motion controller includes a six-axis lightweight mechanical arm body 101, a servo motor 102, a servo motor driver 103, a servo motor encoder 104, and an embedded ETH6045B type Type motion control board 106, mechanical arm control electrical cabinet 108, upper computer 109, FPGA adapter board 110, strain type spoke sensor 113, resistance strain gauge 114, ADC analog-to-digital converter 115. The servo motor 102 and the strain gauge spoke sensor 113 are respectively installed at each joint of the six-axis lightweight mechanical arm body 101; the servo motor encoder 104 is connected to the servo motor driver 103 with a special cable; ARM9 chip, PCL604...

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Abstract

The invention discloses a mechanical arm force feedback control system and method based on an embedded type motion controller. The mechanical arm force feedback control system comprises a six-shaft light weight type mechanical arm body, a servo motor encoder, a servo motor driver, a strain type spoke sensor, an embedded type motion control panel, a pulse interface, an ARM9 chip, a PCL6045B chip, an FPGA chip, an upper computer, an interface circuit, a resistance strain gauge, an analog-digital converter (ADC) and an ADS1256 module. The mechanical arm force feedback control method comprises thesteps of mechanical arm motion control; multi-shaft servo motor position decoding; and torque sensor signal processing. By means of the mechanical arm force feedback control system and method, the features, namely high real-time performance, high anti-interference performance and high stability, of the embedded type motion controller are fully utilized; and the control system aims at achieving the advantages of being small in size, customized, and high in control precision.

Description

technical field [0001] The invention relates to the control of a mechanical arm, in particular to a force feedback control system and method for a mechanical arm based on an embedded motion controller. Background technique [0002] After more than 50 years of technological development, robot technology has penetrated into various fields of manufacturing and has become an indispensable part of the modern manufacturing chain. In early applications, the robotic arm only played the role of carrying or transferring parts, and it was programmed to perform a series of movements, but it did not have external perception functions. As the interaction between the manipulator and the external environment gradually increases and is widely used in more complex production environments, more and more external perception capabilities, such as vision, touch, and force perception, are added to the manipulator control plan. Among them, the robotic arm is made more automated, intelligent, and p...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1674
Inventor 陈忠洪潮吴淇森张宪民
Owner SOUTH CHINA UNIV OF TECH
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