Hot-line work robot force feedback master-slave control method and system based on virtual reality technology

Abstract

The invention provides a hot-line work robot force feedback master-slave control method and system based on the virtual reality technology. The hot-line work robot force feedback master-slave controlsystem based on the virtual reality technology comprises a main manipulator, a mechanical arm and an industrial control computer. During force feedback control over the main manipulator, the industrial control computer calculates the torque data of each joint of the main manipulator according to the stress data of the tail end of the mechanical arm, and each joint of the main manipulator is controlled to output the torque through a control interface of the main manipulator. The scalar of the stress data of the tail end of the mechanical arm is six-freedom-degree force / torque data, and the stress data of the tail end of the mechanical arm are obtained by the industrial control computer through calculation based on the virtual reality technology according to the tail end pose data and tailend speed data of the mechanical arm. During pose control over the mechanical arm, the industrial control computer calculates the expectation value of the velocity vector of the tail end of the mechanical arm is worked out according to the angle data of each rotation joint of the main manipulator, and through a control interface of the mechanical arm, the mechanical arm is controlled to move according to the expectation value. By the adoption of the hot-line work robot force feedback master-slave control method and system based on the virtual reality technology, hot-line work can be accurately, efficiently and safely completed.

Description

technical field [0001] The invention belongs to the field of electric power technology, and in particular relates to a force feedback master-slave control method and system for a live working robot based on virtual reality technology. Background technique [0002] With the gradual development of live working robots, the traditional man-machine coexistence insulated warehouse operation can no longer meet the control performance and safety requirements in the live working environment. Previously, the operator could remotely control the robot's live working robot through the main operator, which can ensure that the operator is isolated from the high-voltage electric field; , The judgment of the relative position between the robotic arms, between the operation object and the operation environment is more accurate, and there will be no visual blind spots, the operation accuracy is higher, collisions can be prevented, and the operation safety is improved. However, when using the ...

AI Technical Summary

Problems solved by technology

However, when using the aforementioned live-working robot to carry out precise positioning live operations, such as disconnecting and disconnecting the isolation switch, drop-out fuse and wires at both ends of the arrester, etc., it is mainly through observing the working environment images (including real-time images and 3D modeling images) To judge whether the operation of the robot arm is in place, there is no perception of the contact force between the robot arm and the operating object and between the robot arm and the robot arm, and it is difficult to judge whether the operation accuracy meets the operation requirements

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