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Motion mapping method of teleoperated manipulator based on cyberforce

A mapping method and technology of manipulators, which are applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of different working spaces between manipulators and human arms, poor control and mapping effects, etc., and achieve the effect of improving the mapping effect

Active Publication Date: 2021-03-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor control mapping effect due to the inconsistency of the working space between the robotic arm and the human arm in the existing control method for robot astronauts, and provides a motion mapping method based on CyberForce teleoperated robotic arm

Method used

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  • Motion mapping method of teleoperated manipulator based on cyberforce
  • Motion mapping method of teleoperated manipulator based on cyberforce
  • Motion mapping method of teleoperated manipulator based on cyberforce

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Embodiment Construction

[0026] Combine below Figure 1 to Figure 14 Specifically describe this embodiment, the motion mapping method based on CyberForce teleoperated manipulator described in this embodiment, combined with figure 1 As shown, it includes:

[0027] The motion space of the manipulator is divided into free movement space and fine operation space;

[0028] Analyze the free movement space and the fine operation space, and use the convex hull to represent the outer contour of the reachable workspace in the corresponding space;

[0029] In the outer contour of the convex hull of the free movement space, according to the accessible working space of the manipulator, according to the position mapping method and attitude mapping method of teleoperation respectively, the CyberForce device is used to control the position and attitude of the end of the manipulator arm; the position mapping method The mapping strategy of the method is fixed scaling factor mapping, and the mapping strategy of the at...

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Abstract

The invention discloses a motion mapping method based on a CyberForce teleoperation mechanical arm, belongs to the technical field of robot teleoperation, and aims to solve the problem that the control mapping effect of a conventional control method for robot astronauts is poor as working spaces of the mechanical arm and human arms are inconsistent. The motion mapping method comprises the steps that a motion space of the mechanical arm is divided into a free moving space and a fine operation space; bulges are utilized to represent an outer contour of a reachable working space in a corresponding space; in a bulge outer contour of the free moving space, the position is controlled through set zoom factor mapping and the posture is controlled through posture adjustment mapping according to thereachable working space of the mechanical arm; and in a bulge outer contour of the fine operation space, the position is controlled through variable zoom factor mapping and the posture is controlledthrough posture adjustment mapping according to a set posture space of the mechanical arm. The motion mapping method is used for control of the position and posture of the tail end of the mechanical arm.

Description

technical field [0001] The invention relates to a motion mapping method based on a CyberForce teleoperation mechanical arm, and belongs to the technical field of robot teleoperation. Background technique [0002] The construction of the space station involves a large number of tasks such as space assembly, equipment maintenance, and fuel supply. If all tasks are completed by astronauts, it will consume a lot of manpower and material resources, and there will be dangers such as poisonous gas leakage and fire in the harsh and complex space environment. The mission will pose a huge threat to the safety of astronauts. At the same time, most of the assembly and maintenance tasks in the space station are simple assembly and replacement of modular units. The actions are relatively simple and single and repeated many times. Relying on astronauts to complete such tasks is very boring and inefficient. At present, robotic arms are used to assist astronauts in the construction and main...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1689
Inventor 刘宏蒋再男李重阳杨帆
Owner HARBIN INST OF TECH
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