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Radiation-resistant power manipulator control system

A motion control system and control system technology, applied in the field of control, can solve the problems of low automation and low remote operation efficiency, and achieve the effects of enhancing the sense of operation, enhancing the sense of presence, and improving the sense of presence in the operation

Inactive Publication Date: 2018-02-06
中国东方电气集团有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of low automation degree and low remote operation efficiency of the existing radiation-resistant dynamic manipulator system, the present invention adopts servo motion control technology to improve driving operation accuracy, adopts multi-joint linkage control technology to improve the control efficiency of the mechanical arm, and adopts machine vision technology Improve the efficiency of tool changeover, adopt end force sensing and main hand force feedback technology to improve the sense of operation presence, thereby improving the efficiency of remote operations in medium and low dose radiation environments

Method used

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  • Radiation-resistant power manipulator control system

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Experimental program
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Effect test

Embodiment 1

[0026] Such as Figure 1 to Figure 6 , a control system for a radiation-resistant power manipulator, including a central controller and a sub-control system, the sub-control system includes a driving motion control system, a robotic arm motion control system, a tool replacement control system, and a remote operation control system; the central control The system communicates with the sub-control system; the driving motion control system includes the driving controller, servo system and sensor system; the manipulator motion control system includes the manipulator controller, the teach pendant and the manipulator servo system; the tool changing control system includes the tool Replacement controller, industrial camera and quick change device; teleoperation control system includes teleoperation controller, main hand sensor and depth camera.

[0027] This is one of the most basic embodiments of the present invention. Servo motion control technology is used to improve the running ...

Embodiment 2

[0029] Such as Figure 1 to Figure 6 , a control system for a radiation-resistant power manipulator, including a central controller and a sub-control system, the sub-control system includes a driving motion control system, a robotic arm motion control system, a tool replacement control system, and a remote operation control system; the central control The system communicates with the sub-control system; the driving motion control system includes the driving controller, servo system and sensor system; the manipulator motion control system includes the manipulator controller, the teach pendant and the manipulator servo system; the tool changing control system includes the tool Replacement controller, industrial camera and quick-change device; the remote operation control system includes a remote operation controller, a main hand sensor and a depth camera; the central control system and the sub-control system are connected through EtherCAT industrial Ethernet for communication ; ...

Embodiment 3

[0032] Such as Figure 1 to Figure 6 , a control system for a radiation-resistant power manipulator, characterized in that it includes a central controller and a sub-control system, and the sub-control system includes a driving motion control system, a mechanical arm motion control system, a tool replacement control system, and a remote control system system; the central control system interacts with the sub-control system through the EtherCAT industrial Ethernet bus; the driving motion control system includes a driving controller, a three-axis servo system and a sensor system; the robotic arm motion control system includes a robotic arm controller and a teach pendant and seven-axis servo system; tool changing control system includes tool changing controller, industrial camera and quick change device; teleoperation control system includes teleoperation controller, six degrees of freedom main hand, force / torque sensor and depth camera;

[0033] The present invention adopts the ...

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Abstract

The invention discloses a radiation-resistant power manipulator control system. The system includes a central controller and a sub control system, the sub control system includes a vehicle movement control system, a mechanical-arm movement control system, a tool replacement control system and a remote operation control system, and the central control system is connected with the sub control systemthrough communication; the vehicle movement control system includes a vehicle controller, a servo system and a sensor system; the mechanical-arm movement control system includes a mechanical-arm controller, a teaching machine and a mechanical-arm servo system; the tool replacement control system includes a tool replacement controller, an industrial camera and a quick replacement device; the remote operation control system includes a remote operation controller, master manipulator sensor and a depth camera; such control mode as 'centralized management and decentralized control effectively achieves radiation-resistant power manipulator control.

Description

technical field [0001] The invention relates to the field of control technology, in particular to a control system for a radiation-resistant power manipulator. Background technique [0002] The radiation-resistant power manipulator is the core equipment in the process of nuclear decommissioning and radioactive waste treatment. China is a big country with nuclear power. With the development of nuclear power and the decommissioning of nuclear facilities, my country's demand for radiation-resistant power manipulators is increasing. At present, the radiation-resistant power manipulators used in China are all imported products. [0003] The motion control of the existing power manipulator adopts the position open-loop control method, which cannot quickly and accurately control the end tool to reach the specified pose; the multi-joint manipulator at the front adopts the single-axis jog control method, which cannot realize multi-axis linkage control; local image assistance is used...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00B25J19/00
CPCB25J9/161B25J13/00B25J19/00
Inventor 魏清平凌乐陈远强刘丝丝周东莫堃董娜于信宾
Owner 中国东方电气集团有限公司
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