Mobile robot chemical experiment operation system and method

Abstract

The invention discloses a mobile robot chemical experiment operation system and method, and the method comprises the steps: fixing a positioning label on each chemical work site, recording the pose of each key path point relative to the positioning label, and constructing the structural information of a work station; and according to a set operation process, controlling the mobile robot to automatically carry out chemical experiment operation by utilizing the pose of the positioning label and the recorded structured information. According to the system and the method, high-precision pose positioning of an object can be realized, and complex motion planning and track smoothing of the operation arm are carried out, so that flexible operation of various different chemical instruments is realized, and the chemical experiment efficiency is improved.

Description

technical field [0001] The invention relates to the field of mobile operation robot control, in particular to a mobile robot chemical experiment operating system and method. Background technique [0002] Mobile manipulation of robots has always been an important research direction in the field of robotics. The mobile multi-DOF manipulator belongs to a class of mobile operation robots. Since the base of the mobile multi-DOF manipulator moves in the scene, it is not feasible to directly specify the pose of the object in the scene relative to the base. In order to solve the structure of the object To solve the problem of information expression, a fixed world coordinate system can be set, and all poses can be represented in the world coordinate system. However, this method requires the use of specific pose acquisition equipment, which has high economic cost and complicated operation. Once the scene changes slightly, it needs to be re-acquired, so the flexibility and scalability...

AI Technical Summary

Problems solved by technology

However, this method needs to use specific pose acquisition equipment, which has high economic cost and complicated operation, and once a slight change in the scene needs to be re-acquired, the flexibility and scalability are weak.

Moreover, the current mobile multi-degree-of-freedom manipulator mainly uses the six-point positioning method based on force feedback to achieve pose positioning, but the positioning speed of this method is slow and requires a large space

Finally, most of the current inverse algorithms for mobile multi-DOF manipulators are based on numerical iterative methods. When the target pose is far away from the current pose, the algorithm cannot guarantee optimality and is random, which will lead to Unexpected movement of the operating arm

In addition, specifying multiple path points in a trajectory, and passing through the path points one by one, will cause obvious pauses at the path points, slow down the operation speed, and affect the smoothness and fluency of the operation

[0003] Based on the problems existing in the existing mobile multi-degree-of-freedom manipulator, the current mobile multi-degree-of-freedom manipulator cannot carry out refined chemical experiment operations along each chemical work station in the chemical experiment scene of multiple chemical work stations , which limits the application of mobile robots in the field of chemical experiments

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