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Double-mechanical arm cooperative control method for full-automatic blood type serology analysis system

An analysis system and dual manipulator technology, applied in the direction of analyzing materials, instruments, etc.

Active Publication Date: 2017-03-29
广州誉康医药有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the collaborative control technology of dual manipulators focuses on solving the same goal of two sets of manipulators working together, or using the teaching-reproduction mode to complete fixed tasks repeatedly. The adaptability of its control technology needs to be improved to meet the requirements of fully automatic Evolving task order requirements in a blood group serology analysis system

Method used

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  • Double-mechanical arm cooperative control method for full-automatic blood type serology analysis system
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  • Double-mechanical arm cooperative control method for full-automatic blood type serology analysis system

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Embodiment Construction

[0070] The drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, some parts in the drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0071] For those skilled in the art, it is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0072] With reference to the accompanying drawings, the double-manipulator cooperative control method for the fully automatic blood group serology analysis system of the present invention comprises the following steps:

[0073] Step 1: If figure 1 As shown, the system global coordinate system OXYZ is established, and the zero coordinates of robotic arm A and robotic arm B are respectively recorded as and Acc...

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Abstract

The invention discloses a double-mechanical arm cooperative control method for a full-automatic blood type serology analysis system. The method comprises the following steps: after receiving a blood sample or reagent transferring task instruction, performing quick interference judgment on the basis of task routes of two mechanical arms, and then reasonably allocating the motion time of the two mechanical arms according to a judging result, and planning the motion tracks of the mechanical arms on the basis of a trapezoidal speed mode, thereby effectively avoiding impact on the start and stop processes of the system, fully exerting the time advantage and increasing the blood sample transferring efficiency. The control method can adapt to a time-varying task instruction; for different operation requirements, the two mechanical arms can quickly complete the existing tasks without interference within the finite time; the operand is small; the expansion is easy; the engineering practicability is strong.

Description

technical field [0001] The invention relates to the field of blood analysis equipment, in particular to a dual-manipulator cooperative control method for an automatic blood type serological analysis system, which realizes non-interfering and fast blood sample handling operations within a limited time. Background technique [0002] The robotic arm servo system has been widely used in the fields of medical equipment, aerospace, and industrial automation. In the fully automatic blood group serological analysis system, it is often difficult for a robotic arm to complete the more complicated blood sample handling and reagent addition within a limited time. And so on a series of actions, therefore, the introduction of dual robotic arm control system to meet the task requirements. [0003] The control technology of a single manipulator, such as teaching-reproduction, trajectory planning, force-position mixing, compliance control, etc., has matured and can quickly complete operation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N35/00
CPCG01N35/00584G01N35/0099
Inventor 田应和阮建蓉段学超米建伟顾顺利阮清源刘连强黄陆光
Owner 广州誉康医药有限公司
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