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Method and device for sensing end force of rope-driven flexible manipulator without external sensor

A flexible robotic arm and external sensor technology, applied in the field of robotic arms, to achieve the effect of force control

Active Publication Date: 2022-08-05
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Application Information

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Problems solved by technology

[0003] The present invention provides a method and device for sensing force at the end of a rope-driven flexible manipulator without an external sensor, aiming at at least solving one of the technical problems in the prior art, such as making it impossible to install a force sensor at the end of the rope-driven flexible manipulator Accurate perception of terminal force information can still be achieved without borrowing other external sensors

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  • Method and device for sensing end force of rope-driven flexible manipulator without external sensor
  • Method and device for sensing end force of rope-driven flexible manipulator without external sensor

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Embodiment Construction

[0065] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings, so as to fully understand the purpose, solutions and effects of the present invention.

[0066] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. on a feature. As used herein, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. Also, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terms used in the specification herein are for the purpose of describing specific embodiments only, and not for the pur...

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Abstract

The invention relates to a method and a device for sensing the end force of a rope-driven flexible manipulator without an external sensor. The method includes: establishing the conversion relationship between the rotational position fed back by the motor encoder and the motion length of the rope; establishing the conversion relationship between the motor drive feedback current and the rope tension; establishing the rod coordinate system of the manipulator; establishing the end arm rod and the center block The dynamic balance equation and moment balance equation of the arm are calculated, and the initial end force is calculated; the dynamic balance equation and moment balance equation of the reciprocal multi-segment boom are established, and the end force is calculated iteratively; it is judged whether the error of the two calculated end forces is lower than Threshold, if yes, stop iteration. The apparatus therein includes a memory and a processor that implements the method. By iteratively calculating the end force of the manipulator, the rope-driven flexible manipulator can still achieve accurate perception of end force information without external sensors.

Description

technical field [0001] The invention belongs to the technical field of mechanical arms, and relates to a method and a device for sensing end force of a rope-driven flexible mechanical arm without external sensors. Background technique [0002] At present, the rope-driven flexible manipulator has broad development prospects in environments such as military reconnaissance, pipeline work, auxiliary medical inspection, nuclear power equipment maintenance, etc. due to its more flexible and stronger bending ability. However, in some specific work scenarios However, the currently commonly used multi-dimensional force sensors, fiber Bragg grating sensors, electromagnetic sensors, etc. are difficult to install, or are easily interfered and difficult to work, which greatly limits the sensing ability and force-position hybrid control of the rope-driven flexible manipulator in complex environments. aspect applications. SUMMARY OF THE INVENTION [0003] The present invention provides ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/16B25J9/104B25J9/1045B25J9/1633
Inventor 徐文福王封旭杨太玮袁晗梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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