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Mobile robot controller and control method thereof

A mobile robot and controller technology, applied in the field of robotics, can solve problems such as terminal planning, control and other difficult operations and complex structures

Active Publication Date: 2014-04-30
STATE GRID INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the structure of the mobile assembly robot is more complex than that of the fixed manipulator, so it is more difficult to plan and control the end of it.

Method used

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  • Mobile robot controller and control method thereof
  • Mobile robot controller and control method thereof

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Experimental program
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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] see figure 1 , a mobile assembly robot controller, including a remote controller 1, a wireless sending module 2, a wireless receiving module 3, an industrial computer 4, a receiver 5, a position sensor 6, a 485 bus 7, a proportional valve 8, and a switch valve 9.

[0052] The output of the remote controller 1 control panel is connected to the input of the data acquisition board, and the output of the data acquisition board is connected to the wireless transmission module 2; the output of the wireless receiving module 3 is connected to the input of the industrial computer 4 through the serial port, and the output of the industrial computer 4 is connected to the receiver through the serial port 5, the output of the receiver 5 is connected to the proportional valve 8 and the switching valve 9; the position sensor 6 is connected to the input of the i...

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PUM

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Abstract

The invention discloses a mobile robot controller and a control method. The mobile robot controller comprises a remote controller, a wireless receiving and transmitting module, an industrial personal computer, a receiver, a sensor, a sensor wireless transmission system, a proportional valve and a switching valve. The control method comprises the following steps: acquiring the control information of a remote controller panel through a remote controller acquisition board; transmitting the acquired control information to the industrial personal computer in the form of an instruction; acquiring the information of an encoder for encoding the absolute value of each joint by using the industrial personal computer, and performing kinematics algorithm processing through a main industrial personal computer; sensing a control instruction to the receiver to complete motion control over a mobile assembly robot. A high-frequency automobile assembly task is completed by using a special tool connected to the tail end of the mobile robot controller in a master-slave and autonomous control way instead of the arms of a person, thereby lowering the labor intensity of operation personnel and ensuring the safety of the operation personnel.

Description

technical field [0001] The invention relates to a robot technology, in particular to a mobile robot controller and a control method thereof. Background technique [0002] The assembly robot is the core equipment of the flexible automated assembly system, which consists of a robot manipulator, controller, end effector and sensing system. Among them, the structural types of the manipulator include horizontal joint type, rectangular coordinate type, multi-joint type and cylindrical coordinate type, etc.; the controller generally adopts multi-CPU or multi-level computer system to realize motion control and motion programming; the end effector is adapted to different The assembly object is designed into various claws and wrists, etc.; the sensing system is used to obtain the interaction information between the assembly robot, the environment and the assembly object. Commonly used assembly robots mainly include programmable general-purpose assembly operators, namely PUMA robots (...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J13/08
Inventor 赵玉良鲁守银吕曦晨李健谭林王振利
Owner STATE GRID INTELLIGENCE TECH CO LTD
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