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Control method and control system for double-arm crawler-type mobile operation robot

A mobile operation and control method technology, applied in the direction of comprehensive factory control, program control manipulator, manipulator, etc., can solve the problems of not being able to see the robot itself and the swing arm posture, hidden dangers of safety accidents, mutual interference, etc., to reduce development costs, Effects of enhanced security and improved development efficiency

Pending Publication Date: 2022-08-09
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the above-mentioned background technology. It is relatively difficult to control the mobile operation robot with heterogeneous double arms. The posture of the robot itself and the swing arm cannot be seen in the remote operation, and the two mechanical arms may interfere with each other, which is safe. Disadvantages of hidden dangers of accidents, providing a control method and control system for a dual-arm crawler-type mobile operation robot

Method used

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  • Control method and control system for double-arm crawler-type mobile operation robot
  • Control method and control system for double-arm crawler-type mobile operation robot
  • Control method and control system for double-arm crawler-type mobile operation robot

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Embodiment Construction

[0053] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is exemplary only, and is not intended to limit the scope of the invention and its application.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both the fixing function and the coupling or communication function.

[0055] It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relat...

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Abstract

The invention discloses a double-arm crawler-type mobile operation robot control method and control system, and the method comprises the following steps: S1, building a virtual model of a physical robot in a robot simulation module; s2, synchronization: controlling the movement of the virtual model in the robot simulation module, transmitting data to a robot onboard industrial personal computer through a wireless module, and controlling the synchronous movement of the entity robot and the virtual model by the industrial personal computer; s3, a control system of the robot simulation module controls the two mechanical arms to move at the same time according to an output instruction of the operating lever; and S4, sending a user command and joint angle information to the entity robot through the virtual model. According to the control method of the double-arm crawler-type mobile operation robot, visualization of the posture of the robot body can be achieved, the posture of the robot body can be visually seen in a robot model of a simulation interface according to the fed-back physical robot posture data, the posture of the robot can be conveniently obtained in teleoperation, and operation safety is guaranteed.

Description

technical field [0001] The invention relates to the field of mobile operation robots, in particular to a control method and a control system of a double-arm crawler type mobile operation robot. Background technique [0002] The mobile operation robot combines the advantages of a mobile robot and a robotic arm. It has almost unlimited workspace and flexible manipulation capabilities, which is very suitable for large-scale mobile operation scenarios. At present, mobile operating robots have been widely used in factory inspections, rescue and disaster relief and other scenarios with complex environments and high operational risk factors, and have become the focus of research in the field of robotics. The crawler-type mobile operating robot with swing arm greatly enhances its ability to cross obstacles. The mobile operating robot is mainly divided into two parts: mobile chassis and operating arm. In terms of mobile chassis: although the wheeled robot moves fast, its passing pe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J9/16B25J9/1682B25J9/1689B25J5/005Y02P90/02
Inventor 梁斌刘厚德郭家泰王学谦
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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