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Plug-and-play mechanical arm system based on distributive control

A distributed control, plug-and-play technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems that the precise control of the manipulator cannot be realized, the transmission speed cannot meet the transmission speed, etc., and achieve the promotion of technological development and reliability High, the effect of improving research efficiency

Inactive Publication Date: 2005-03-02
SHANGHAI JIAO TONG UNIV
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  • Claims
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Problems solved by technology

However, the USB interface of this system adopts the 1.1 specification, and the transmission speed cannot meet the occasions with high transmission speed (such as real-time video transmission, etc.); moreover, the control of several joints of the mechanical arm adopts simple open-loop control (the drive is a steering gear) , so it can only be applied to occasions with relatively low technical requirements, and cannot achieve precise control of the robotic arm

Method used

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  • Plug-and-play mechanical arm system based on distributive control
  • Plug-and-play mechanical arm system based on distributive control
  • Plug-and-play mechanical arm system based on distributive control

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Embodiment Construction

[0017] Such as figure 1 As shown, the present invention includes: a host 1 , a USB interface module 2 , a central controller 3 , an internal distributed control system 4 and a robot arm body 5 . The host 1 is connected to the USB interface module 2 through a USB cable, and the central controller 3 is located between the USB interface module 2 and the internal distributed control system 4. These two parts are connected to the central controller 3 through a parallel bus, and the internal distributed The control system 4 is composed of multiple subsystems with the same function connected in parallel, wherein each subsystem includes a PID controller 6, a DC motor driver 7 and a DC motor 8 with feedback, and the internal distributed control system 4 directly passes through The control line is connected with the mechanical arm body 5 .

[0018] In the internal distributed control system 4, the input interfaces of the PID controllers 6 of all subsystems are connected in parallel and...

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Abstract

The plug-and-play mechanical arm system based on distributive control in robotic technology includes system unit, USB interface module, central controller, internal distributive control system and mechanical arm. The system unit is connected via a USB cable with USB interface module, and the central controller is located between the USB interface module and the internal distributive control system, which are connected to the central controller via parallel bus. The internal distributive control system consists of several parallel subsystems with the same functions, and each of the subsystems includes one PID controller, one DC motor driver and one DC motor with feedback; and connected via control lines to the mechanical arm. The present invention provides complete interface and control scheme for the popular future robot.

Description

technical field [0001] The invention relates to a universal manipulator system, in particular to a plug-and-play manipulator system based on distributed control. Used in the field of robotics. Background technique [0002] Nowadays, robot technology has formed an emerging industry with broad development prospects, especially miniaturized and intelligent robots have become one of the latest robot research directions. Among them, the robot manipulator (mechanical arm) has developed rapidly, and its application scope has gradually penetrated from the original industrial environment to all walks of life in society. It is conceivable that in the future, ordinary users will have a small intelligent robotic arm at home like other electrical appliances. , to help humans complete some specific tasks. However, although the robotic arm technology has made a lot of progress in the past few decades, it is still far from daily life, mainly due to the complex mechanism of the robotic arm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J18/00
Inventor 苏剑波张彦俊
Owner SHANGHAI JIAO TONG UNIV
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