Robot control system and method based on master-slave teleoperation manipulator

Abstract

The invention discloses a robot control system and method based on a principal and subordinate teleoperation mechanical arm. The robot control system comprises a principal mechanical arm and information collection plate, a monitoring center PC, a robot principal control panel, a subordinate mechanical arm and FPGA movement control panel and a site environmental information collection plate. The robot control method includes the steps of principal mechanical arm manufacturing and data collection, the control of a subordinate mechanical arm, a trolley and a cradle head, video collection and communication of the robot principal control panel, data collection and communication of the site environmental information collection plate and data display and communication of the monitoring center PC. Under the condition that the complexity of a system is not added, the mechanical arm can be controlled to achieve relatively complex movement. A modularized mode is designed to be used, and modules are in communication through CAN buses. An FPGA is used as a movement control panel, establishing and updating of the system are convenient, and the stability of the system is improved. A robot transmits the video information of a working site and the environmental information of the working site to a monitoring center so that the robot can be controlled to complete more complex operations.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a robot control system and method based on a master-slave teleoperation robot arm. Background technique [0002] In the past ten years, with the development of science and technology, robots have penetrated into various fields of production and life, and robot control methods have become a research hotspot in universities, enterprises and institutions. Robots can not only replace people in some more complex or repetitive tasks, but also reach places that people cannot reach or are more dangerous. With the continuous enhancement of the functions of robots, in some fields people can use robots to do work that they could not do before, and robots have even completely replaced the operations of workers. So far, with the assistance of surgical robots, many cases of transnational surgery have been completed around the world, bringing more hope to patients; in the Fuk...

AI Technical Summary

Problems solved by technology

[0003] The control method of the manipulator is the key link in the robot control. The existing control methods of the manipulator mostly use the combination of images to model the manipulator or separately through the control panel. Control each joint, the implementation of these two control methods has many limitations, and there are certain technical defects

First, the control method of collecting the 3D image information of the scene through the camera, modeling the robotic arm, and allowing the robot to make autonomous decisions has relatively high requirements for the control algorithm, camera precision, and robotic arm, and this method is suitable for complex environments. Not applicable

Second, the control method of controlling the joints of the corresponding manipulator by rotating the knob on the control panel is simple and easy, but this method cannot realize the multi-axis linkage of the manipulator, and it is difficult to complete more complicated operations

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