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Controlling system of movable manipulator

A mobile manipulator and control system technology, applied in the field of control systems, can solve the problems of inability to give full play to the performance of the mobile manipulator, difficulty in planning and control of the mobile manipulator, and lack of planning and control, so as to improve the performance, reduce the burden, and expand the scope of work. Effect

Inactive Publication Date: 2006-03-15
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These problems bring great difficulties to the planning and control of mobile manipulators
At present, most mobile manipulator control systems often only regard the system as two subsystems of the mobile platform and the manipulator in the planning and control, without unified planning and control, which cannot give full play to the performance of the mobile manipulator.

Method used

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  • Controlling system of movable manipulator
  • Controlling system of movable manipulator

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Embodiment Construction

[0040] The mobile manipulator system MM controlled by the mobile manipulator control system of the present invention includes an omnidirectional mobile platform MR and a five-degree-of-freedom manipulator MA. figure 2 It is a three-dimensional physical map, in which the mobile platform MR is a closed volume, and there are three eccentric universal wheels below it, which can complete the three-degree-of-freedom movement of front and rear, left and right, and rotation on the plane. Each wheel is composed of a rolling motor and A steering motor drive. A columnar slide rail is vertically arranged at the center of the top of the mobile platform MR, and a manipulator MA is provided on one side of the columnar slide rail. On the slider on the side of the rail.

[0041] The structure of the control system of the present invention is as figure 1As shown, in addition to the power system PS, the control system also includes a main control computer M, a display D, a single chip S, a se...

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Abstract

A control system for the movable manipulator system consisting of movable platform, manipulator and visual system is composed of primary control computer, display, single-chip microprocessor, servo motor and its driver, photoelectric encoder, step motor and its driver, two movement control cards, camera head, image acquisition card, infrared sensor, ultrasonic sensor, power supply and PCI bus.

Description

technical field [0001] The invention relates to a control system of a mobile manipulator, which is especially suitable for the parallel and coordinated work of modules such as a mobile platform, a manipulator and a vision system, and can complete the control task of the mobile manipulator for large-scale mobile operations. Background technique [0002] Both the manipulator in the traditional sense and the mobile robot have their inherent defects. Because the base of the manipulator is fixed, its working space is limited. The mobile robot only has the function of moving and cannot complete the operation task. Therefore, there is an urgent need for a mechanical system with both mobility and operability in engineering, and mobile manipulators emerge as the times require. The so-called mobile manipulator is to fix the manipulator on the mobile platform. The manipulator is used to realize some actions such as grasping and operation. The working space of the manipulator is expand...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/18B25J13/06B25J5/00
Inventor 易建强赵冬斌李新春邓旭玥李佳宁
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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