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Intelligent moving mechanical arm control system

A technology for moving manipulators and controllers, applied to manipulators, manufacturing tools, etc., can solve problems such as poor system flexibility and limited intelligence level, and achieve the effects of improving redundancy, reducing processing overhead, and reducing overhead

Inactive Publication Date: 2010-09-01
JIANGSU ZISHI MACHINERY MFG
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AI Technical Summary

Problems solved by technology

The method widely used today is to directly integrate the control part of the robotic arm into the mobile body. At the beginning of the design, the number of robotic arms, the type and number of sensors are determined, so that it is difficult to adapt to different In some cases, the flexibility of system modification is poor
[0005] Remote operation: The intelligence of the intelligent mobile robot arm depends on the information of various sensors installed on the body, but its intelligence level is still limited, and human intervention and operation are required when necessary

Method used

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with accompanying drawing.

[0015] Such as figure 1 As shown, the portable computer 1 is connected to the embedded industrial control computer 2, and the embedded industrial control computer 2 is connected to the autonomous navigation car controller 12 through the CAN-bus bus;

[0016] The autonomous navigation car controller 12 directly controls the left and right wheel motor servo drivers 16 through PWM or analog, and drives the left and right wheel motors 17 of the mobile robot platform to move. The autonomous navigation car controller 12 can plan and process the ultrasonic sensor 14 and the collision switch 15 at the bottom layer to improve the reaction speed. The gyroscope 13 communicates with the autonomous navigation car controller 12 through the RS232 interface to correct the position of the robot. Each module controller of the arm joint module 20 of the mobile manipulator platform communica...

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Abstract

The invention relates to an intelligent moving mechanical arm control system. A traditional control system has poor hierarchy, structural property and remote operability. A portable computer in the invention is in signal connection with an embedded industrial computer; a laser sensor, a global positioning system, a three-dimensional digital compass, a USB / CAN bus, an image acquisition card, a wireless video camera and a network switch are in signal connection with the embedded industrial computer respectively; a pan-tilt-zoom (PTZ) camera is in signal connection with the image acquisition card; a wireless access node is in signal connection with the network switch; an independent navigation trolley controller, an arm region controller and an arm joint module are in signal connection with the USB / CAN bus respectively; and a gyroscope, an ultrasonic sensor, a collision switch and left and right wheel motor servo drivers are in signal connection with the independent navigation trolley controller respectively. The system can perform remote control on the independent moving trolley and the modularized mechanical arm respectively, has distinct hierarchy and reduces the expenditure of an upper computer.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to an intelligent mobile robot control system. Background technique [0002] The intelligent mobile manipulator can perceive the environment and its own state through sensors, realize goal-oriented autonomous navigation in an environment with obstacles, and complete certain intelligent operation behaviors. This requires mobile manipulators to have certain self-learning, self-planning, self-operation, self-organization and self-adaptive capabilities in complex environments. Since the intelligent mobile manipulator has autonomous or semi-autonomous movement and certain intelligent operation capabilities, the intelligent mobile manipulator can be regarded as a prototype of service robots such as handling or transportation robots, nursing robots, risk-removing robots, and human-assisting robots. It is an important research content to develop a control system with clea...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J5/00
Inventor 刘士荣吴秋轩吕强张波涛史先鹏刘剑文仲朝亮杨帆董德国王凯陈建业
Owner JIANGSU ZISHI MACHINERY MFG
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