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ROS-based mechanical arm teleoperation system

An operating system and robotic arm technology, applied in the field of robotics, can solve problems such as single process, poor flexibility and portability, and achieve the effects of easy development and use, good scalability and portability, and improved accuracy

Inactive Publication Date: 2019-09-10
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the disadvantages of the existing manipulator operating system that the process is relatively single, and the flexibility and portability are poor, the present invention provides a ROS-based manipulator teleoperating system, which is built on the ROS system and can real-time It collects and restores human hand movements through the robotic arm, and can simultaneously feed back the on-site image to the operator, providing a flexible and practical solution for the remote operation of the robotic arm

Method used

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Embodiment Construction

[0034] In order to make the object, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0035] refer to figure 1 and figure 2 , a ROS-based manipulator teleoperation system frame, including a manipulator platform and a teleoperation platform, and the two are connected via Ethernet, the teleoperation platform includes a small computer, a display device and a posture capture sensor, and the prime number manipulator platform Including industrial computer, industrial camera and mechanical arm, ROS is an open source robot operating system, the industrial computer and the small computer are equipped with and run ROS, and ROS manages the message transmission between nodes or hosts;

[003...

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Abstract

The invention relates to an ROS-based mechanical arm teleoperation system which comprises a mechanical arm platform and a teleoperation platform connected by the Ethernet. The teleoperation platform comprises a small computer, a display device and a posture capturing sensor. The mechanical arm platform comprises an industrial personal computer, an industrial camera and a mechanical arm. Both the industrial personal computer and the small computer carry and operate an ROS and the ROS manages message transfer among nodes or host machines. The system is constructed based on the ROS, can collect an action posture of the right upper extremity of a human body in real time and use the mechanical arm to represent the action by way of inverse kinematic resolving, and meanwhile, feeds back a field image to an operator, thereby providing a precise, flexible and efficient solution for teleoperation of the mechanical arm.

Description

technical field [0001] The invention is applied in the technical field of robots, and relates to a ROS-based teleoperating system for manipulators suitable for remote control of manipulators. Background technique [0002] In the fields of industry, medical treatment, and military affairs, robotic arms have been widely used due to their advantages of high precision, good stability, and the ability to operate in environments where humans cannot work, greatly improving work efficiency. However, in some special cases, the robotic arm cannot complete the task independently. At this time, human operators are required to intervene to remotely control the robotic arm in real time to complete the corresponding work. Therefore, the manipulator remote control system is needed to complete the manipulator's manipulation of the manipulator. [0003] ROS (Robot Operating System) is an open source robot software platform designed specifically for robot developers, providing services simila...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J9/16
CPCB25J9/163B25J9/1689B25J9/1694B25J13/006
Inventor 张文安吴航宇徐建李鹏金聪聪王佳凤周晨胡晨佳
Owner ZHEJIANG UNIV OF TECH