Redundant mechanical arm inverse priority impedance control system and control method
An impedance control, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as impossibility of impedance control tasks, and achieve the effects of easy control tasks, easy movement, and good flexibility
Active Publication Date: 2020-09-25
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 manipulator The balance of the manipulator is easy to move, and it is convenient to identify and grab objects; the second is the inverse priority impedance control system and control method of the redundant manipulator that can enable the redundant manipulator of the manipulator to achieve the desired impedance control task under different hierarchical structures
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Embodiment Construction
[0177] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0178] Embodiment, redundant manipulator anti-priority impedance control system, see Figure 4 , Figure 5 As shown, it includes a manipulator and a control console S31 for controlling the manipulator; it also includes a movable mobile platform S41; fixed on the mobile platform;
[0179] The mechanical arm includes a vertical lifting mobile platform S3, an arm segment one S6, an arm segment two S7, an arm segment three S8 and an arm segment four S10;
[0180] The left surface of the vertical column is provided with a vertical track S24, and the vertical lifting mobile platform slides vertically up and down on the vertical track; the lower end of the vertical column is fixedly connected on the upper surface of the mounting seat, and the vertical cylinder The cylinder seat S21 is fixedly connected to the upper surface of the mounting seat on the left s...
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The invention discloses a redundant mechanical arm inverse priority impedance control system and a control method and belongs to the technical field of redundant mechanical arm inverse priority impedance control of mechanical hands. The system and method facilitate identification and grabbing of objects. The redundant mechanical arm inverse priority impedance control system comprises a movable mobile platform, a mechanical hand and a console for controlling the mechanical hand. The mechanical hand comprises a mechanical arm, a mounting seat, a vertical column, an output gripper and a verticalcylinder. The mechanical arm comprises a vertical lifting moving table, a first arm section, a second arm section, a third arm section and a fourth arm section. A vertical rail is arranged on the leftsurface of the vertical column. The vertical lifting moving table is vertically and 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 portion, located on the left side of the vertical rail, of the mounting seat. The upper end of a telescopic rod of the vertical cylinder is fixedly connected to the lower surface of the vertical lifting moving table. The mounting seat is fixed to the mobile platform. A camera is arranged at the front end of the mechanical hand.
Description
technical field [0001] The invention relates to the technical field of inverse priority impedance control of redundant manipulators, in particular to a redundant manipulator inverse priority impedance control system and control method. Background technique [0002] The current control method used 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, and the controller is uniformly controlled and coordinated; [0003] A robot arm with six degrees of freedom is a robot arm with the minimum number of degrees of freedom to complete spatial positioning, and a robot arm with more than six degrees of freedom is collectively called a redundant robot arm; [0004] The current manipulator arm impedance control method cannot achieve the desired impedance control task under different hierarchical structures. Therefore, it is very important to involve a method that ...
Claims
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Login to View More IPC IPC(8): B25J9/16
CPCB25J9/1628
Inventor 刘海燕苏宇李敏斯林春兰吴雪颖
Owner GUANGXI UNIVERSITY OF TECHNOLOGY