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Master-slave robot control system and control method

A control system and control method technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor real-time performance, easy to generate multiple solutions, and many joints of hand robots, so as to reduce space following errors and avoid multiple Solubility and flexibility

Active Publication Date: 2016-10-12
SHENZHEN INST OF ADVANCED TECH
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Problems solved by technology

[0004] This application provides a master-slave robot control system and control method to solve the problem that the prior art slave robot has many joints, the inverse solution process is cumbersome, the real-time performance is poor, multiple solutions are prone to occur, and master-slave cannot be guaranteed. Follow-up technical problems of hand robots

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  • Master-slave robot control system and control method

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0031] see figure 1 , figure 1 It is a structural schematic diagram of the master-slave robot control system of the embodiment of the present invention. The master-slave robot control system of the embodiment of the present invention includes a master robot, a control system, an angle database and a slave robot. Among them, the slave robot includes an encoder. The control system is respectively connected with the main hand robot and the angle database, and the angle database is also connected with the slave hand robot. The control system receives the operation instructions of the master robot, ...

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Abstract

The invention relates to the technical field of robot control, in particular to a master-slave robot control system and control method. The master-slave robot control system comprises a master manipulator robot, a control system, an angle database and a slave manipulator robot, wherein the control system is connected with the master manipulator robot and the angle database respectively; the angle database is connected with the slave manipulator robot; the control system is used for detecting the position change value of the master manipulator robot, performing fuzzy control treatment of the position change value of the master manipulator robot, outputting the angle change level of the slave manipulator robot, and calling a movement instruction from the angle database according to the angle change level and sending the movement instruction to the slave manipulator robot; and the slave manipulator robot moves according to the movement instruction. According to the invention, the real-time performance is good, a kinematical inverse solution to the slave manipulator robot is not needed, multiplicity of solutions is avoided, the number of degrees of freedom of the slave manipulator robot is not limited, and the space following error can be reduced.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a master-slave robot control system and control method. Background technique [0002] Bionic robots have been applied in many fields. They can replace or partially replace humans to complete operations in dangerous environments, or enter spaces that cannot be reached by humans, and make the size of the robot small enough to enter the natural cavity of the human body (such as the intestinal tract) to complete Surgery and point-of-care drug delivery. The bionic robot can also be used as a manipulator, by fixing one end of the bionic robot, it becomes an manipulator with redundant degrees of freedom, which can complete complex grasping actions. Operation in a narrow space, avoiding collision operation in a complex environment. [0003] In the existing technology, the method of realizing the master-slave heterogeneous robot mainly involves joint angle distribution one-to-one ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/065B25J9/08B25J9/1607B25J9/161B25J9/1625B25J9/163B25J9/1635B25J9/1638B25J9/1661
Inventor 李橡欣任岭雪韩世鹏陈果谢卿丞熊璟王磊
Owner SHENZHEN INST OF ADVANCED TECH
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