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USB interface based personal manipulator system

A universal serial bus and manipulator technology, applied to manipulators, memory systems, program-controlled manipulators, etc., can solve the problems of limited length of USB communication cables, and achieve the effects of convenient upgrades and function changes, flexible use, and flexible systems

Inactive Publication Date: 2003-08-06
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Fujitsu Automation (Kirinagawa Town, Tochigi Prefecture) and Fujitsu Research Institute (Kawasaki City, Kanagawa Prefecture) jointly developed a bipedal walking robot. The control program of the robot runs on the RT-Linux of the personal computer. The motor communicates through the USB interface. Due to the limited length of the USB communication cable, the range of motion of the walking robot is limited to this length.

Method used

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  • USB interface based personal manipulator system
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  • USB interface based personal manipulator system

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Embodiment Construction

[0017] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0018] Depend on figure 1 As shown, the plug-and-play technology of the robotic arm system is realized by the USB interface, and USB is proposed by Intel, which provides hot-swappable functions and is supported by today's mainstream operating systems; for the processing unit of the robotic arm, it consists of two parts Composition, the digital signal processing unit is composed of DSP, and its own hardware characteristics make DSP have a great advantage in digital signal processing compared with general X86 processors. The work to be processed mainly includes task interpretation from the personal computer, data analysis from various sensors and final decision-making. A single-chip microcomputer is used as the control and execution unit, mainly to complete the control of the execution unit and the processing of sensor...

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Abstract

The invention is a personal manipulator system which is based on USB interface, the task of mechanical arm is transmitted to digital signal processing unit by personal computer through USB interface,and it is analyzed into corresponding control order, controls the joints of the mechanical arm to move by controlling and executing unit, the sensor senses the environment and the parameters of each joint and feeds back to digital signal processing unit, controlling and executing units, forms closed-loop control and transmits to personal computer in order to be monitored by manipulator.

Description

Technical field: [0001] The invention relates to a personal mechanical arm system based on a universal serial bus (USB) interface, and relates to the interface technology between a robot and a computer. Background technique: [0002] With the improvement of social division of labor and the further expansion of the demand for intelligent machinery, the application range of robot manipulators (mechanical arms) has gradually penetrated from the original industrial environment to all walks of life in society. The control and planning of the robotic arm is inseparable from the computer. Due to the high speed, high precision and high stability of robot control, traditional robot control is done by industrial computers. The current development of personal computer technology makes it have similar computing power to industrial computers used for traditional robots, and provides more types of interfaces and extended functions, and its social popularity far exceeds that of industrial...

Claims

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Application Information

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IPC IPC(8): B25J9/00G06F9/00G06F13/00
Inventor 苏剑波张克军席裕庚朱莉戴先中马旭东
Owner SHANGHAI JIAO TONG UNIV
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