Manipulator inverse priority impedance control system and control method
A technology of impedance control and manipulators, which is applied in the directions of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems that the impedance control tasks cannot be realized, and achieve the effects of easy control tasks, high reliability, and flexible use
Pending Publication Date: 2020-09-22
GUANGXI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0005]
The present invention is to solve the deficiency that the existing impedance control method of the manipulator cannot realize the desired impedance control task under different hierarchical structures, and provides a method that can control the balance of the manipulator, the manipulator is easy to move, easy to identify and grasp objects, and flexible to use The second is a manipulator inverse priority impedance control system and control method that can enable the redundant manipulator of the manipulator to achieve the desired impedance control task under different hierarchical structures
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[0178] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0179] Example, Manipulator Inverse Priority Impedance Control System, see Figure 4 , Figure 5 As shown, it includes a manipulator and a console S31 for controlling the manipulator; it also includes a movable mobile platform S41; the manipulator includes a manipulator, a mounting seat S1, a vertical column S2, an output gripper S12 and a vertical cylinder S23; the mounting seat fixed on the mobile platform;
[0180] The manipulator includes a vertical lift mobile platform S3, a base arm segment S49, an arm segment 1 S6, an arm segment 2 S7, an arm segment 3 S8 and an arm segment 4 S10;
[0181] A vertical rail S24 is provided on the left surface of the vertical column, and the vertical lifting and moving platform is vertically slid up and down on the vertical rail; the lower end of the vertical column is fixedly connected to the upper surface of the m...
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The invention discloses a manipulator inverse priority impedance control system and a control method, and belongs to the technical field of inverse priority impedance control of redundant manipulators, for the convenience in identifying a grabbed object. The manipulator inverse priority impedance control system comprises a movable moving platform, a manipulator and a console for controlling the manipulator; the manipulator comprises a mechanical arm, a mounting seat, a vertical column, an output gripper and a vertical cylinder; the mechanical arm comprises a vertical lifting moving platform, an arm section I, an arm section II, an arm section III and an arm section IV; a vertical rail is arranged on the left surface of the vertical column; the vertical lifting moving platform is verticallyand slidably arranged on the vertical rail; the lower end of the vertical column is fixedly connected to the upper surface of the mounting seat; a cylinder seat of the vertical cylinder is fixedly connected to the upper surface of the mounting seat located on the left side of the vertical rail; the upper end of a telescopic rod of the vertical cylinder is fixedly connected to the lower surface ofthe vertical lifting moving table; the mounting seat is fixed to the moving platform; and a camera is arranged at the front end of the manipulator.
Description
technical field [0001] The invention relates to the technical field of inverse priority impedance control of manipulator redundant manipulators, in particular to a manipulator inverse priority impedance control system and a control method. Background technique [0002] At present, the control method adopted by industrial robots is to treat each joint on the manipulator as a separate servo mechanism, that is, each axis corresponds to a servo, and each servo is controlled by the bus, which is controlled and coordinated by the controller. [0003] A manipulator with six degrees of freedom is a manipulator with the minimum number of degrees of freedom that can complete spatial positioning. Manipulators with more than six degrees of freedom are collectively referred to as redundant manipulators; [0004] At present, the manipulator arm impedance control method of the manipulator cannot achieve the desired impedance control task under different hierarchical structures. Therefore, ...
Claims
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Login to View More IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1679Y02P90/02
Inventor 刘海燕苏宇李敏斯林春兰吴雪颖
Owner GUANGXI UNIVERSITY OF TECHNOLOGY