Double-manipulator coordination control system and double-manipulator coordination control method

Abstract

The invention discloses a double-manipulator coordination control system which comprises a control keyboard, a main manipulator, a display, a main control cabinet and two auxiliary control cabinets. Motion control on two manipulators is realized by collecting pulse data of the keyboard and the main manipulator and sending the pulse data to a lower computer in a form of instructions. An industrial personal computer of the main control cabinet is connected with a computer of the main manipulator and communicates with industrial personal computers, controlling the manipulators, of the auxiliary control cabinets to send out motion instructions. The industrial personal computers of the auxiliary control cabinets plan motion of the manipulators according to the motion instructions of the industrial personal computer of the main control cabinet. Clamping hands and special tools connected at the tail end of the system are utilized to substitute for human arms to complete tasks such as electrified line breaking, electrified line connecting, electrified fallen fuse replacing on a 10KV line with higher electrified operating frequency, so that on one hand, labor intensity can be reduced for operating personnel, and on the other hand, a guarantee is provided for safety of the operating personnel.

Description

technical field [0001] The invention relates to a robot technology, in particular to a dual mechanical arm coordinated control system and control method. Background technique [0002] In the development stage of live work technology, the live work method can be said to be manual live work, that is, the operator is always under the threat of high voltage and strong electric field when working. Manual live work is generally high-altitude work, frequent pole climbing operations, harsh working conditions, high labor intensity, mental stress, and easy to cause personal injury and death accidents. According to the statistics of 100 typical live work accidents in the country in 1995, there were 55 live work accidents in power distribution, accounting for 55%. Among the 39 people who died, 19 people died in live work accidents in power distribution, accounting for 61%. Therefore, for a long period of time in the past, the live operation of power distribution has been restricted, re...

AI Technical Summary

Problems solved by technology

Therefore, for a long period of time in the past, the live operation of power distribution has been restricted, resulting in frequent power outages on power distribution lines, and the failure to complete power distribution reliability indicators, which has brought great economic losses to power companies. People's life and production have brought great inconvenience

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