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Control method for multi-degree-of-freedom master-slave teleoperation manipulator

A control method and manipulator technology, applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as fatigue-prone operation efficiency and heavy mental burden

Inactive Publication Date: 2016-11-16
广州霞光技研有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method places a heavy mental burden on the operator, is prone to fatigue and has low operating efficiency

Method used

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  • Control method for multi-degree-of-freedom master-slave teleoperation manipulator
  • Control method for multi-degree-of-freedom master-slave teleoperation manipulator
  • Control method for multi-degree-of-freedom master-slave teleoperation manipulator

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Embodiment 1

[0030] figure 1 and figure 2 A specific embodiment of the invention is shown in which figure 1 It is a schematic flow chart of the method of the present invention; figure 2 It is a geometric diagram of the change in space position of the multi-degree-of-freedom manipulator in the present invention.

[0031] See figure 1 and figure 2 , a method for controlling a multi-degree-of-freedom master-slave teleoperated manipulator, comprising the following steps:

[0032] Step A, from the manipulator on site, according to the method of forward kinematics, the attitude matrix is ​​determined with the current angle of each joint as a parameter;

[0033] Step B, judging the grab target point (X, Y, Z) or the direction of X, Y, Z according to the actual target image or video, without considering the target posture;

[0034] Step C, manually setting the route track grasped by the mechanical arm;

[0035] Step D, setting the interpolation point, that is, the step length of each mov...

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Abstract

The invention discloses a control method for a multi-degree-of-freedom master-slave teleoperation manipulator. The control method comprises the following operation steps: step A, determining a pose matrix by a slave manipulator in the field by taking the current angles of joints as parameters according to a method of forward kinematics; step B, judging a grabbing target point (X, Y and Z) or the directions of X, Y and Z according to an actual target image or video; step C, manually setting a grabbing path track of the manipulator; step D, setting interpolation points, that is, a step length of each moving road section; step E, calculating the movement parameters of the joints, needed for the manipulator to arrive at the next interpolation point according to an inverse kinematics solution algorithm, and executing; and step F, feeding back through manual judgement and repeating the step A to enable the manipulator to arrive at a target position. According to the control method disclosed by the invention, manual single-joint control is replaced by a six-degree-of-freedom welding manipulator with a human vision location function and capable of realizing teleoperation, thus the mental burden of operating personnel is reduced, and the working efficiency is greatly increased.

Description

technical field [0001] The invention belongs to the field of robot control, and in particular relates to a multi-degree-of-freedom master-slave teleoperation manipulator control method. Background technique [0002] With the continuous development of science and technology, and the rapid increase in the fields where robots replace human beings, the development of various robots has become a topic of common concern to all countries and militaries in the world. Due to the unknown working environment of the robot, humans cannot reach or can only obtain job information through video on many occasions. The location of the job needs to be random and accidents may occur at any time during the grabbing process. If people are close to the job site, accidents may occur at any time can happen. Therefore, in this special environment, the robot adopts master-slave operation for remote control operation, which reduces the difficulty of processing, which is of great significance for impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J9/18B25J13/06
CPCB25J3/00B25J9/1607B25J9/1664B25J9/1689B25J13/06
Inventor 蒋梁中
Owner 广州霞光技研有限公司
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