Mechanical arm motion control system

A technology of motion control system and robotic arm, applied in the direction of manipulator, program control manipulator, claw arm, etc., can solve the problem that the control accuracy of the manipulator is difficult to guarantee

Active Publication Date: 2020-08-11
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a mechanical arm motion control system to solve the problem that the control accuracy of the mechanical arm is difficult to guarantee in the existing fully automatic assembly process

Method used

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  • Mechanical arm motion control system
  • Mechanical arm motion control system
  • Mechanical arm motion control system

Examples

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Embodiment 1

[0063] This embodiment provides a motion control system for a manipulator, which includes an intelligent compliant assembly platform, a moving assembly workpiece, and a stationary assembly workpiece, wherein: figure 1 As shown, the intelligent compliant assembly platform controls a six-degree-of-freedom collaborative manipulator, and the six-degree-of-freedom collaborative manipulator includes an end effector, and the intelligent compliant assembly platform generates state information of the six-degree-of-freedom collaborative manipulator; The intelligent compliant assembly platform establishes a training model according to the state information of the six-degree-of-freedom collaborative manipulator, realizes drag teaching and collision detection, and obtains force control algorithms and search assembly algorithms; the six-degree-of-freedom collaborative manipulator implements force control The algorithm and the search assembly algorithm arrive at the designated station, and th...

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Abstract

The invention provides a mechanical arm motion control system. The mechanical arm motion control system comprises an intelligent compliant assembly platform, a motion assembly workpiece and a static assembly workpiece, wherein the intelligent compliant assembly platform controls a six-degree-of-freedom cooperative mechanical arm, the six-degree-of-freedom cooperative mechanical arm comprises an end effector, and the intelligent compliant assembly platform generates state information of the six-degree-of-freedom cooperative mechanical arm; the intelligent compliant assembly platform establishesa training model according to the state information of the six-degree-of-freedom cooperative mechanical arm to realize dragging teaching and collision detection, and a force control algorithm and a search assembly algorithm are obtained; and the six-degree-of-freedom cooperative mechanical arm executes the force control algorithm and the search assembly algorithm to reach a designated station, the end effector clamps the motion assembly workpiece for assembly, and the motion assembly workpiece is assembled to the static assembly workpiece.

Description

technical field [0001] The invention relates to the technical field of robot assembly, in particular to a motion control system of a mechanical arm. Background technique [0002] A multi-degree-of-freedom robot is a mechatronic device capable of simulating the functions of a human arm, wrist, and hand. It can move any object or tool according to the time-varying requirements of space (position and attitude), so as to complete the operation requirements of an industrial production. In today's rising labor costs in our country, automation will also bring benefits to enterprises. In addition to heavy-duty machining tasks, small parts assembly tasks that originally depended on human finger touch, such as mobile phone or tablet computer assembly lines, can also be endowed with a sense of touch by adding joint torque sensors, assisting humans or independently completing these tasks. Greatly improve production efficiency. [0003] Precision assemblies such as piston assemblies o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16B25J13/08B25J18/00
CPCB25J9/0081B25J9/1679B25J9/1602B25J9/1676B25J13/085B25J18/00Y02P90/02
Inventor 方宇陶翰中杨皓吴明晖周志峰雷菊阳
Owner SHANGHAI UNIV OF ENG SCI
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