CN105751200A - Action method of fully hydraulic autonomous moving mechanical arm - Google Patents
Action method of fully hydraulic autonomous moving mechanical arm Download PDFInfo
- Publication number
- CN105751200A CN105751200A CN201610237222.4A CN201610237222A CN105751200A CN 105751200 A CN105751200 A CN 105751200A CN 201610237222 A CN201610237222 A CN 201610237222A CN 105751200 A CN105751200 A CN 105751200A
- Authority
- CN
- China
- Prior art keywords
- camera
- mechanical arm
- omni
- moving platform
- mechanical arms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses an action method of a fully hydraulic autonomous moving mechanical arm, and belongs to the technical field of a mechanical arm. The fully hydraulic autonomous moving mechanical arm comprises an omnibearing moving platform, wherein double mechanical arms, a power system, a vision system and a sensing and control system are arranged on the omnibearing moving platform; a rotary waistline device is arranged on the omnibearing moving platform; the double mechanical arms are arranged on the omnibearing moving platform through the rotary waistline device; the double mechanical arms are of an apery double-arm structure with multi-freedom degrees; the power system uses an engine-hydraulic driving mode; the vision system comprises a navigation camera, a great-vision-field servo camera and a hand-eye camera; the sensing and control system comprises a joint force sensor, a joint position sensor and a six-dimension force sensor. The method can meet the large-range moving operation requirements of heavy workpieces.
Description
Technical field
The present invention relates to mechanical arm technical field, particularly relate to a kind of all-hydraulic autonomous mechanical arm
Method of operating.
Background technology
Past 30 Years, China's manufacturing industry obtains fast development and length under low cost labor advantage
Foot is progressive, becomes the world and manufactures big country.But, since entering 10 years 21 centurys second, labor
Power cost steeply rises, based on workforce population after 80s, after 90s to be engaged in dull repetition,
The interest of the industry work of poor working environment is decreased obviously, and manufacturing industry substitutes artificial demand with robot
It is continuously available and excites.
Mobile mechanical arm has huge market potential, as a example by Tire production industry, and China's tire yield
Account for global 50%, but in sulfuration production technology, the transport of tire base, warehouse-in store and finished tire
The work such as selection on the conveyor line also need to be accomplished manually, and the flexible installing on tire base to vulcanizer is also
A large amount of dependence are artificial, and not only labour intensity is big, and in workshop, sulfide staining is serious, the duty to workman
Industry health causes the biggest harm, and recruitment is waste to cause tire enterprise to occur in a large number, and enterprise is to mechanically moving
The demand of arm is at about 3000, and market capacity is at about 5,000,000,000 yuan；Machining be (forging
Clamping forges, the clamping of weldment welding, the assembling of big quality parts, choose, transport etc.), big
The industry and enterprises such as type dangerous material and ammunition operation, engineering and municipal construction are to hydraulic-driven mobile mechanical arm
Also having wilderness demand, the overall market capacity is more than 20,000,000,000 yuan.
Hydraulically powered heavy load autonomous mechanical arm combines mobile robot platform and mechanical arm
Feature, there is autonomous and operating function simultaneously, make mechanical arm have height motion redundancy
Property and bigger working space, can complete in larger scope with more excellent pose within the shorter time
Task, can be widely used in the assembling of workpiece to move the form of operation, choose, carry, press forging
Forge clamping and carrying, the clamping welding of weldment, it is achieved the automation of production process, high efficiency,
Replace being accomplished manually bad environments, work that labour intensity is big, notable for workman's occupational health level
Improve and powerful guarantee is provided.
Therefore, for the assembling of relatively large workpiece, press forging forge clamping and carrying, weldment
Clamping welding, it is necessary to develop the dynamic of a kind of all-hydraulic autonomous mechanical arm that disclosure satisfy that this demand
Make method.
Summary of the invention
The present invention provides a kind of and disclosure satisfy that large-mass workpiece moves the all-hydraulic of job requirements on a large scale
The method of operating of autonomous mechanical arm.
For solving above-mentioned technical problem, the present invention provides technical scheme as follows:
A kind of all-hydraulic autonomous mechanical arm, including omni-directional moving platform, described all-around mobile
Double mechanical arms, dynamical system, vision system and perception and control system it is provided with on platform, its
In:
Being provided with revolution waist device on described omni-directional moving platform, described double mechanical arms is by described
Revolution waist device is arranged on described omni-directional moving platform, and described double mechanical arms is for having the most freely
The apery arm structure of degree；
Described dynamical system uses engine-hydraulic-driven pattern；
Described vision system includes navigate camera, big visual field servo camera and trick camera；
Described perception and control system include that joint force snesor, joint position sensor and six-dimensional force pass
Sensor, described joint force snesor and joint position sensor are arranged on each joint of described double mechanical arms
Place, described six-dimension force sensor is arranged on the end of every mechanical arm of described double mechanical arms.
Further, every mechanical arm of described double mechanical arms has 6 rotary joints, respectively rotates pass
Joint is by oscillating oil cylinder or fluid motor-driven, and described revolution waist device is by fluid motor-driven；Institute
Hydraulic motor is had all to use electrohydraulic servo valve control.
Further, described navigation camera is 2 colored monocular navigation cameras, is separately positioned on described
Two ends before and after omni-directional moving platform, described big visual field servo camera is arranged on described revolution waist dress
The top put, described trick camera is 2 color solid trick cameras, is separately positioned on described two-shipper
The end of every mechanical arm of mechanical arm.
Further, described dynamical system uses the airborne engine with combustion gas as the energy to provide power,
Described omni-directional moving platform uses and hangs-drive built-in Hydraulic Main driving wheel, described all-around mobile
The surrounding of platform is provided with the ultrasonic sensor for detecting obstacles thing and wide angle camera.
Further, described perception and control system also include for detecting described omni-directional moving platform
The vertical gyroscope assembly of attitude, angular speed and acceleration and be used for detecting described comprehensive shifting
The wheel speed sensors of the vehicle wheel rotational speed of moving platform.
Further, the band of the controller of described double mechanical arms is wider than described omni-directional moving platform
The bandwidth of controller.
A kind of method of operating of all-hydraulic autonomous mechanical arm, described all-hydraulic autonomous mechanical arm
There is the first pattern, the motion of described omni-directional moving platform, institute under described first pattern
Stating double mechanical arms static, method of operating corresponding to described first pattern includes:
Step (1): use nonholonomic constraint condition to plan in the path followed the tracks of；
Step (2): the path planned according to described step (1), sets described all-around mobile and puts down
The motor pattern of platform, described motor pattern include Ackerman turn to, double Ackerman turn to or
Wheel motor pattern in the same direction；
Step (3): measure the course of described omni-directional moving platform, position and velocity deviation；
Step (4): based on incomplete omni-directional moving platform kinematics model, uses Active Disturbance Rejection Control
Method calculates the corner needed for described omni-directional moving platform and spin rate control quantity；
Step (5): use Auto-disturbance-rejection Control realize the corner of described omni-directional moving platform and turn
The bottom control of speed.
A kind of method of operating of all-hydraulic autonomous mechanical arm, described all-hydraulic autonomous mechanical arm
Also there is the second pattern, under described second pattern described omni-directional moving platform static,
Described double mechanical arms moves, and method of operating corresponding to described second pattern includes:
Step (1): described navigation camera guides described omni-directional moving platform to specify pose to enter work
Industry station, and brake, lock；
Step (2): described big visual field servo camera search workpiece, guides described double mechanical arms convergence work
Part；
Step (3): when the end of described double mechanical arms arrives near workpieces certain distance, workpiece entrance
Time in the field range of described trick camera, perform step (4), otherwise perform described step (2)；
Step (4): described double mechanical arms is under the monitoring of described big visual field servo camera, and described
Job task is performed, if workpiece departs under the guiding of trick camera and the control of Visual servoing control device
During the field range of described trick camera, perform described step (2), described double mechanical arms is drawn again
Lead back near workpieces.
Further, selected initial point is at the barycenter of described omni-directional moving platform and world coordinate system
Parallel coordinate system freezes world coordinates as described double mechanical arms and described big visual field servo camera
System, this freezes world coordinate system and moves together with described omni-directional moving platform.
A kind of method of operating of all-hydraulic autonomous mechanical arm, described all-hydraulic autonomous mechanical arm
Also there is the 3rd pattern, described omni-directional moving platform motion under described 3rd pattern,
Described double mechanical arms moves, and method of operating corresponding to described 3rd pattern includes:
Step (1): described navigation camera guides described omni-directional moving platform to move to moving target road
Near footpath；
Step (2): the search of described big visual field servo camera, the appearance of supervision moving target, motion mesh
Mark once occurs, moving target is identified, if moving target is for treating by described big visual field servo camera
The target captured, then estimate the distance of the most described omni-directional moving platform of moving target, otherwise continue
Search；
Step (3): the position of moving target to be captured is supplied to the control of described double-movement mechanical arm
System processed, utilizes described big visual field servo camera to guide described omni-directional moving platform to fortune to be captured
Moving-target moves, and controls described double-movement mechanical arm simultaneously and moves towards moving target to be captured, directly
In being completely in the task space of described double mechanical arms to moving target to be captured and have certain allowance
Time, control described omni-directional moving platform Tong Bu with moving target to be captured；
Step (4): described big visual field servo camera guides the end convergence of described double mechanical arms to wait to capture
Moving target, until moving target to be captured is in the visual field of described trick camera；
Step (5): under the monitoring of described big visual field servo camera, utilizes described trick camera to guide
Workpiece is captured by described double mechanical arms.
The method have the advantages that
Compared with prior art, the all-hydraulic autonomous mechanical arm of the present invention, owing to double mechanical arms leads to
Cross revolution waist device to be arranged on omni-directional moving platform, and double mechanical arms has multivariant
Apery arm structure, it is possible to complete the actions such as " revolution ", " pitching ", " roll ", " crawl ", can
With the more preferable needs adapting to mobile operation；Vision system distinctive navigation camera, big visual field servo phase
Machine and trick camera, for precisely navigation and accurate installation, precisely the sentencing of target of omni-directional moving platform
Disconnected and crawl provides guarantee；Dynamical system uses engine-hydraulically powered pattern, meets double
Mechanical arm carries out large-mass workpiece assembling, moving-target captures job task to high power density energy and height
The requirement of dynamic response capability；Perception and control system include that joint force snesor, joint position sense
Device and six-dimension force sensor so that double mechanical arms possesses power control ability, it is achieved that flexible assembly function.
To sum up, the present invention disclosure satisfy that large-mass workpiece moves the demand of operation on a large scale, has filled up tire system
Make the blank of the automation of production process in industry, provide for significantly improving of workman's occupational health level
Powerful guarantee, brings huge market value.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the all-hydraulic autonomous mechanical arm of the present invention；
Fig. 2 is the structural representation of the double mechanical arms of the all-hydraulic autonomous mechanical arm of the present invention；
Fig. 3 is the double mechanical arms motion closed-loop control switching of the all-hydraulic autonomous mechanical arm of the present invention
Process schematic.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below will knot
Conjunction drawings and the specific embodiments are described in detail.
On the one hand, the present invention provides a kind of all-hydraulic autonomous mechanical arm, as shown in Figure 1 to Figure 2,
Including omni-directional moving platform 1, omni-directional moving platform 1 is provided with double mechanical arms 2, dynamical system
System, vision system and perception and control system, wherein:
Being provided with revolution waist device 11 on omni-directional moving platform 1, double mechanical arms 2 is by revolution waist
Body device arranges 11 on omni-directional moving platform 1, and double mechanical arms 2 is multivariant imitative for having
People's arm structure；
Dynamical system uses engine-hydraulic-driven pattern；
Vision system includes navigate camera 31, big visual field servo camera 32 and trick camera 33；
Perception and control system include joint force snesor, joint position sensor and six-dimension force sensor
41, joint force snesor and joint position sensor are arranged on each joint of double mechanical arms 2, sextuple
Force snesor 41 is arranged on the end of every mechanical arm of double mechanical arms 2.
During specific design, double mechanical arms configuration designs with its load capacity, working space, control accuracy
With performance indications such as operating rates, turn to Main Design Principles with big rigidity, light weight；On material selects
Use light weight, the aluminum the most processed that rigidity is high；In structure design, thin board type structure is used to connect,
Long cylinder uses light wall pipe flanged type mechanism, simultaneously on the premise of ensureing double mechanical arms rigidity, and connector
Place increases lightening hole, and encoder is additionally connected to the outer end of casing, and this connected mode greatly reduces
Length needed for casing and radius, thus alleviate joint weight, decrease the inertia in whole joint
Square；Optimize in design, use ANSYS to analyze software to double mechanical arms on the basis of CAD models
Rigidity and lightweight further checked and optimized, so that it is determined that each joint meets rigidity requirement
On the premise of connecting plate minimize thickness, and use Topology Optimization Method to obtain lightweight topology knot
Structure, it is considered to processing technology, chooses optimal design.
The all-hydraulic autonomous mechanical arm of the present invention, owing to double mechanical arms is set by revolution waist device
Put on omni-directional moving platform, and double mechanical arms has multivariant apery arm structure, energy
Enough complete the actions such as " revolution ", " pitching ", " roll ", " crawl ", can preferably adapt to mobile
The needs of operation；Vision system distinctive navigation camera, big visual field servo camera and trick camera, for
Precisely navigating and accurately installation of omni-directional moving platform, precisely judgement and the crawl of target provide guarantor
Card；Dynamical system uses engine-hydraulically powered pattern, meets double mechanical arms and carries out big quality
Workpiece assembling, moving-target capture job task and want high power density energy and high dynamic response ability
Ask；Perception and control system include joint force snesor, joint position sensor and six-dimension force sensor,
Double mechanical arms is made to possess power control ability, work when utilizing six-dimension force sensor detection flexible assembly operation
The reaction force of part, it is achieved that mechanical arm Shared control provides to be supported.To sum up, the present invention disclosure satisfy that
Large-mass workpiece moves the demand of operation on a large scale, has filled up the automatic of production process in Tire production industry
The blank changed, provides powerful guarantee for significantly improving of workman's occupational health level, brings huge
Market value.
As a modification of the present invention, as shown in Figure 1 to Figure 2, every machinery of double mechanical arms 2
Arm can have 6 rotary joints, and each rotary joint, by oscillating oil cylinder or fluid motor-driven, returns
Turning waist device 11 can be by fluid motor-driven；All hydraulic motor all preferably employs electro-hydraulic servo
Valve controls.This structure meets hydraulic power system to cruising time and the big requirement driving power.
Large-mass workpiece assembling, moving-target crawl job task is carried out to high power density for meeting double mechanical arms
Energy and the requirement of high dynamic response ability, dynamical system uses engine-hydraulic-driven pattern, is
Altogether have 27 hydraulic actuators, 1 Active suspension hydraulic jack and 1 turn to oscillating oil cylinder,
6 rotary joints of each mechanical arm all have oscillating oil cylinder or fluid motor-driven, two mechanical arms
Gyration by 1 fluid motor-driven.For ensureing the high dynamic of system, whole hydraulic pressure perform
Device all uses electrohydraulic servo valve control.To cruising time and power is driven greatly for meeting hydraulic power system
Requirement, hydraulic system is provided power by 1 airborne engine；For meeting interior length time service pair
The requirement of low emission, engine, with combustion gas as the energy, constitutes gas engine-hydraulic power system.
In order to ensure the camera 31 accurate navigation of realization during navigation of navigating, for visual servo
Control provides essential information, it is achieved the quickly location of double mechanical arms 2, the quickly identification of workpiece, dynamic mesh
Target independently positions and the function such as crawl, it is preferred that navigation camera 31 is 2 colored monoculars navigation
Camera, is separately positioned on two ends before and after omni-directional moving platform 1, and big visual field servo camera 32 sets
Putting above revolution waist device 11, trick camera 33 is 2 color solid trick cameras, point
It is not arranged on the end of every mechanical arm of double mechanical arms 2.Concrete, from the versatility of platform and right
The high adaptation ability of environment considers, priming platform navigation based on vision guided navigation, platform front and rear
1 colored monocular navigation camera of each installation；Double mechanical arms operation uses Visual servoing control scheme,
Configuring 1 big visual field servo stereoscopic camera above double mechanical arms waist, this camera passes through pitching and orientation
Two-dimensional pan-tilt is connected with gyroaxis, can be synchronized with the movement with waist, it is possible to asynchronous movement, for static
Workpiece, the coarse positioning of moving-target and the guiding to double mechanical arms motion；Each at the end of two mechanical arms
Arrange the color solid trick camera of 1 narrow visual field, for workpiece and the identification of moving target, essence
Determine the accurate control of position and double-manipulator.2 navigation cameras, 1 big visual field servo camera and 2
The trick camera at the narrow scene of platform provides essential information for Visual servoing control jointly, it is achieved double mechanical arms
The quickly function such as autonomous location and the crawl of location, quickly the identifying of workpiece, moving-target；Mobile flat
Platform left and right side respectively installs 1 low cost big visual field camera additional, and constitutes with forward and backward navigation camera
Security protection vision system.
As the another kind of improvement of the present invention, dynamical system preferably employs airborne with combustion gas as the energy
Motivation provide power, so can meet the requirement to low emission of the interior length time service, engine with
Combustion gas is the energy, constitutes gas engine-hydraulic power system；Can be entirely square in order to ensure the present invention
Displacement is dynamic and has high load capability, and omni-directional moving platform uses rubber belt track chassis, built-in differential
Steering mechanism, crawler bearing area is big, has damping effect.For the comprehensive shifting of omnibearing detection
Barrier around moving platform, the surrounding of omni-directional moving platform can be provided with for detecting obstacles thing
Ultrasonic sensor and wide angle camera, wide angle camera can monitor ultrasonic sensor cannot perception
Barrier.Concrete, Reducing distortion of trying one's best while meeting motion damping, by platform stance with high
The uncontrollability of degree change controls to minimum.The engine of work, hydraulic pump can form high-temperature hot continuously
Source, is arranged in the piggyback pod of platform one end, and by the other parts of thermal insulation board and platform every
From, control the heat radiation impact on other device；Wheelspan, wheelbase, Mass Distribution and wheel system are special
Property the key parameter such as (drive, hang, turn to and tire characteristics) optimization overall with mobile mechanical arm
Optimize and together carry out.The engine of work, hydraulic pump can form high temperature heat source continuously, are arranged in
In the piggyback pod of platform one end, and isolated by the other parts of thermal insulation board with platform, control heat radiation
Impact on other device；Wheelspan, wheelbase, Mass Distribution and wheel system characteristic (drive, hang,
Turn to and tire characteristics) etc. the optimization of key parameter move global optimization with double mechanical arms and together carry out.
In the present invention, perception and control system could be included for detecting omni-directional moving platform 1
The vertical gyroscope assembly (not shown) of attitude, angular speed and acceleration and be used for detecting full side
The wheel speed sensors (not shown) of the vehicle wheel rotational speed of displacement moving platform.So may insure that comprehensive shifting
The all-around mobile of moving platform and high load capability so that omni-directional moving platform can safe operation.
For realizing flexible assembly function, double mechanical arms should possess power control ability.To this end, except at double mechanical arms
Each joint on be respectively mounted outside 1 joint position sensor, the also end at 2 mechanical arms is respectively installed
1 general six-dimension force sensor, is respectively mounted 1 joint force snesor on each joint of mechanical arm.
Meanwhile, Installation posture sensor on omni-directional moving platform, simplify answering of double mechanical arms system control
Polygamy.Mechanical arm-mobile platform total tune the method for servo realizes moving to use view-based access control model and power to feel
The coordination of motivation mechanical arm and Shared control, control system architecture uses with hierarchical as core
Hybrid architecture, hardware architecture uses bus type distributed architecture, and this architecture is by organizing
Planning, coordination and servo tertiary structure composition, be a kind of multilevel distributed structure on the whole.Wherein,
" mobile mechanical arm attitude and state " is obtained with sensory perceptual system by sensor；" stability monitoring " presses
According to specific stability criterion, static system, dynamic stability are judged, when the system of discovery occurs not
During stable tendency, " task scheduling " stop the job task of well afoot, start and " stablize and answer
Anxious controller " carry out stability contorting；" security protection monitoring " to except mobile double mechanical arms stability it
Other outer safety problem is monitored, invade including collision, foreign matter, engine temperature abnormal raises,
Hydraulic oil output pressure/loine pressure is abnormal to be reduced or rises high.
Due to when mobile double mechanical arms, exist the strongest non-linear between double mechanical arms and mobile platform
Dynamics Coupling effect, so the bandwidth of the controller of double mechanical arms is preferably greater than omni-directional moving platform
The bandwidth of controller.The impact of double mechanical arms is put down mobile by so mobile platform more than double mechanical arms
The impact of platform is serious, mobile platform can be minimized the impact of double mechanical arms, realizes moving with this
Uneoupled control between moving platform and double mechanical arms.
The present invention uses CAN structure, builds distributed computer control system, uses and embeds
Formula industrial computer is as master controller, it is achieved the task scheduling of organizational planning's level, control goal programming and steady
The functions such as qualitative monitoring, use DSP or single-chip microcomputer as distributed director, it is achieved to coordinate level
Middle mass motion coordination control strategy, overall Shared control strategy, stablize the life of emergency flight control strategy etc.
Become, and realize in servo level the tasks such as the generation of each SERVO CONTROL reference locus and control strategy.
As a example by the course of work that all-hydraulic autonomous mechanical arm is concrete in Tire production industry, introduce
Control method under several motions of the embodiment of the present invention and work pattern.
A. mobile platform motion, static (PM-MS, the Platform Move-Manipulator of mechanical arm
Stop) it is mainly used in workpiece transport, at the beginning of mechanical arm, during location, is sometimes also adopted by this pattern, in this pattern
Under mobile platform is carried out motion control.
B. mobile platform is static, manipulator motion (PS-MM, Platform Stop-Manipulator
Move) being mainly used in location and the crawl of target, the submissive assembling of workpiece, this pattern needs list
Mechanical arm, double mechanical arms and mobile platform implement motion control and Shared control.
C. mobile platform motion, manipulator motion (PM-MM, Platform Move-Manipulator
Move) being mainly used in location and the crawl of moving-target, this pattern needs mobile platform and mechanical arm
Carry out mass motion control and Shared control.
1. the motion control method of mobile platform under PM-MS pattern
Omni-directional moving platform highest movement speed 3m/s that the present invention develops, belongs to low-speed motion, therefore
The dynamics of tire need not be considered, kinematics model be can be used directly and carry out the fortune of omni-directional moving platform
Dynamic control.
The path following control problem that inorganic mechanical arm is participated in:
A. nonholonomic constraint condition is used to plan in the path followed the tracks of；
B. the path planned according to step (1), sets the motor pattern of omni-directional moving platform, motion
Pattern includes that Ackerman turns to, double Ackerman turns to or wheel motor pattern in the same direction；
C. the course of described omni-directional moving platform, position and velocity deviation are measured；
D. based on incomplete omni-directional moving platform kinematics model, Auto-disturbance-rejection Control is used to calculate
Corner needed for described omni-directional moving platform and spin rate control quantity；
E. Auto-disturbance-rejection Control is used to realize the corner of described omni-directional moving platform and the bottom of rotating speed
Control.
When limited working space, use mode dispatching method to carry out motor pattern switching control, make shifting
Moving platform is from a kind of pattern, as kept straight on, is switched to another kind of pattern, such as traversing, diagonal, pirouette
To etc., wherein, the mutually conversion between traversing, pivot stud pattern and other motor pattern needs to move
Moving platform is carried out, i.e. " stop-go " after stopping again.
2. under PS-MM pattern, mechanical arm controls
A. visual servo scheme
The all-hydraulic autonomous mechanical arm that the present invention develops is without configuring overall Vision camera, in these feelings
Under condition, it is arranged on the big visual field servo camera above waist and is used as half overall situation SERVO CONTROL of mechanical arm,
Quickly guiding of preliminary identification, location and mechanical arm for workpiece provides visual feedback information, composition base
Visual servoing control system in position；It is arranged on the trick camera essence for workpiece of arm end
Really identify, position and the accurate guiding of mechanical arm, constitute Visual servoing control system based on image.
B. the manipulator motion of view-based access control model closed loop controls (PS-MM pattern)
B.1 the manipulator motion of view-based access control model closed loop controls to use mechanical other-mobile platform entirety
Control program, in addition to 8 (single armeds) or 15 (both arms) joint actuators of mechanical arm, 4
The motion control of 4 independent suspension actuators also residual mechanical arm of individual wheel；
B.2, in servo camera coordinates system, characteristics of image can implicitly include target speed information, because of
This this control program both can control mechanical arm convergence and fix target, it is possible to controls mechanical arm convergence and moves mesh
Mark；
B.3 initial point coordinate system parallel with world coordinate system at mobile platform barycenter is selected as machine
Mechanical arm and " freezing " world coordinate system of big visual field servo camera, this coordinate system moves together with platform；
The biggest visual field servo camera, calibration and usage " vision guided navigation, the mesh of trick camera vision system
Mark not and freedom positioning system " in the method that is given, image jacobian matrix uses based on Kalman
The on-line identification method of filtering is estimated；
B.5 image-Visual servoing control device and image-Position Servo use sliding moding structure or
Auto-disturbance-rejection Control designs, and so can effectively overcome image jacobian matrix evaluated error, tire
Uncertainty that micro-strain, joint-friction power, unknown load etc. bring and the impact of Unmarried pregnancy,
And gravity, coriolis force etc. are compensated, position-Visual servoing control device also uses sliding moding structure
Or Auto-disturbance-rejection Control design.
B.6 manipulator motion closed-loop control handoff procedure
As it is shown on figure 3, (1) navigation camera guides omni-directional moving platform to specify pose to enter operation
Station, and brake, lock；
(2) big visual field servo camera search workpiece, guides double mechanical arms convergence workpiece；
(3) near workpieces certain distance, workpiece entrance trick camera are arrived when the end of double mechanical arms
Field range in time, perform step (4), otherwise perform described step (2)；
(4) double mechanical arms is under the monitoring of described big visual field servo camera, and drawing at trick camera
Lead and perform job task under the control of Visual servoing control device, if workpiece departs from described trick camera
Field range time, perform step (2), double mechanical arms is led back to again near workpieces.
C. single armed Shared control
Single armed Shared control uses big visual field servo camera or the positional information of trick camera feedback, machinery
The operating physical force information of hand end six-dimension force sensor feedback, uses vision/power to feel and mixes SERVO CONTROL side
Case, controlled quentity controlled variable elects joint velocity or joint power/moment, control method selection Auto-disturbance-rejection Control as.
D. both arms Shared control
Intending using following strategy for redundancy, this strategy includes two parts: position co-ordination controls and power
Coordinate to control.Position co-ordination control method is by introducing the position co-ordination factor, it is achieved operation thing motion rail
The control of mark error, the control of relative error between the control of Joint motion impedance and both arms；Power is coordinated
Mainly in combination with the feature of coordinated manipulation, introduce power coordinating factor, set up dynamically dividing of both arms clamp load
Join mechanism, it is achieved the coordination of the size of operation thing internal stress controls.
Redundancy dual robot coordination controls to implement process: utilize operation thing kinetics equation to set up
Operation thing captures model, obtains the preliminary of both arms clamp load according to crawl model and coordination constraint relation
Distribution and desired movement locus；Then according to the feature of coordinated manipulation, set up based on space spring
The position co-ordination of damping parallel model controls；It is finally introducing change weighting matrix load is dynamically divided
Joining, the gross energy making operation thing internal stress and driving is minimum, and final redundancy dual robot coordination controls
Method.
3. under PM-MM pattern, mobile platform-mechanical arm entirety controls
This technology path also describes the visual servo of " moving-target independently positions and captures " key technology
Control solution.
A. moving-target independently positions and captures Visual servoing control scheme
A.1 mobile platform servo navigation.As working environment is provided with the guidance path of artificial target,
Navigation camera and mileage is used to be calculated as mobile platform navigation, without the guidance path of artificial target,
Use and following the tracks of the big visual field servo camera of moving-target or trick camera is mobile platform navigation, it is achieved
The synchronized tracking of moving-target is moved by mobile platform.
A.2 moving-target search, identification.Use big visual field servo camera search moving-target and carry out preliminary
Identify, use trick camera that moving-target is accurately identified；Use big visual field servo camera vectoring aircraft
Mechanical arm, to moving-target annex, uses trick camera accurately to guide mechanical arm, grabbing for moving-target
Offer visual servo is provided.
B. the mobile mechanical arm motion control (PS-MM pattern) of view-based access control model closed loop
B.1 this control program requires that trick camera is operated under location-based servo pattern, it is achieved right
The identification of moving-target pose, the accurate guiding to gripping tool, and moving-target is sat in " freezing " reference
Mark system positions, calculates the distance between mobile platform and moving-target, guide mobile platform tracking
Moving-target is synchronized with the movement.
B.2 except 8 (single armeds) or 15 (both arms) joint actuators, 4 wheels of mechanical arm
4 independent suspension actuators outside, 8 of 4 wheels driving actuators and turn to actuator also to join
With control；
B.3 vision Close loop servo control process
(1) according to the information such as environmental map, handmarking, mobile platform navigation camera guiding will
Mobile mechanical arm is directed near moving-target motion path (such as conveyer belt)；
(2) big visual field servo camera search, the appearance of supervision moving target, moving target once goes out
Existing, moving target is identified by big visual field servo camera, if moving target is target to be captured,
Then estimate that moving target, relative to the distance of omni-directional moving platform, otherwise continues search for；
(3) position of moving target to be captured is supplied to the control system of double-movement mechanical arm,
Big visual field servo camera is utilized to guide omni-directional moving platform to move to moving target to be captured, simultaneously
Control double-movement mechanical arm to move towards moving target to be captured, until moving target to be captured is complete
In being entirely in the task space of double mechanical arms and when having certain allowance, control omni-directional moving platform and treat
The moving target captured synchronizes；
(4) moving target that the end convergence of big visual field servo camera guiding double mechanical arms is to be captured,
Until moving target to be captured is in the visual field of trick camera；
(5) under the monitoring of big visual field servo camera, trick camera is utilized to guide double mechanical arms to work
Part captures.
C. mechanical arm-mobile platform Dynamic Coupling effect uneoupled control
When mobile mechanical arm moves, between mechanical arm and mobile platform, there is the strongest non-linear dynamic
Learn coupling, but owing to the bandwidth of the bandwidth ratio mobile platform of double mechanical arms is bigger, mobile platform pair
The impact of mechanical arm is serious on the impact of mobile platform more than mechanical arm.To this end, the present invention designs one
Manipulator motion is controlled by " soon " (high bandwidth) controller, designs one " slowly " (low bandwidth)
Mobile platform is controlled by controller, mobile platform is minimized the impact of double mechanical arms, with
This realizes uneoupled control between the two.
To sum up, the method have the advantages that
1, the double mechanical arms of all-hydraulic autonomous mechanical arm has the apery both arms knot of 15 frees degree
Structure, it is possible to complete the actions such as " revolution ", " pitching ", " roll ", " crawl ", preferably adapts to make
The needs of industry.
2, all-hydraulic autonomous mechanical arm distinctive trick camera, navigation camera and big visual field servo
Camera, precisely navigation and accurate installation for platform provide guarantee.
What 3, all-hydraulic autonomous mechanical arm can be entirely autonomous completes in Tire production production process
Series of processes, runs safety, installs accurately, efficient work.
4, achieve the control of all-hydraulic autonomous mechanical arm, filled up in Tire production industry and produced
Blank in the automation of process, significantly improves offer powerful guarantee for workman's occupational health level,
Bring huge market value.
The above is the preferred embodiment of the present invention, it is noted that general for the art
For logical technical staff, on the premise of without departing from principle of the present invention, it is also possible to make some changing
Entering and retouch, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
1. a method of operating for all-hydraulic autonomous mechanical arm, described all-hydraulic autonomous machine
Mechanical arm includes omni-directional moving platform, and described omni-directional moving platform is provided with double mechanical arms, power
System, vision system and perception and control system, wherein:
Being provided with revolution waist device on described omni-directional moving platform, described double mechanical arms is by described
Revolution waist device is arranged on described omni-directional moving platform, and described double mechanical arms is for having the most freely
The apery arm structure of degree；
Described dynamical system uses engine-hydraulic-driven pattern；
Described vision system includes navigate camera, big visual field servo camera and trick camera；
Described perception and control system include that joint force snesor, joint position sensor and six-dimensional force pass
Sensor, described joint force snesor and joint position sensor are arranged on each joint of described double mechanical arms
Place, described six-dimension force sensor is arranged on the end of every mechanical arm of described double mechanical arms；Its feature
It is:
Described all-hydraulic autonomous mechanical arm has the second pattern, in described second pattern
Under the motion of described omni-directional moving platform double mechanical arms static, described, described second pattern is corresponding
Method of operating include:
Step (1): described navigation camera guides described omni-directional moving platform to specify pose to enter work
Industry station, and brake, lock；
Step (2): described big visual field servo camera search workpiece, guides described double mechanical arms convergence work
Part；
Step (3): when the end of described double mechanical arms arrives near workpieces certain distance, workpiece entrance
Time in the field range of described trick camera, perform step (4), otherwise perform described step (2)；
Step (4): described double mechanical arms is under the monitoring of described big visual field servo camera, and described
Job task is performed, if workpiece departs under the guiding of trick camera and the control of Visual servoing control device
During the field range of described trick camera, perform described step (2), described double mechanical arms is drawn again
Lead back near workpieces.
The method of operating of all-hydraulic autonomous mechanical arm the most according to claim 1, it is special
Levying and be, every mechanical arm of described double mechanical arms has 6 rotary joints, each rotary joint by
Oscillating oil cylinder or fluid motor-driven, described revolution waist device is by fluid motor-driven；All hydraulic
Motor all uses electrohydraulic servo valve control.
The method of operating of all-hydraulic autonomous mechanical arm the most according to claim 1, it is special
Levying and be, described navigation camera is 2 colored monocular navigation cameras, is separately positioned on described comprehensive
Two ends before and after mobile platform, described big visual field servo camera is arranged on the upper of described revolution waist device
Side, described trick camera is 2 color solid trick cameras, is separately positioned on described double mechanical arms
The end of every mechanical arm.
The method of operating of all-hydraulic autonomous mechanical arm the most according to claim 1, its feature exists
In, described dynamical system uses the airborne engine with combustion gas as the energy to provide power, described comprehensive
The surrounding of mobile platform is provided with the ultrasonic sensor for detecting obstacles thing and wide angle camera.
The method of operating of all-hydraulic autonomous mechanical arm the most according to claim 1, it is special
Levying and be, described perception and control system also include the appearance for detecting described omni-directional moving platform
The vertical gyroscope assembly of state, angular speed and acceleration and be used for detecting described all-around mobile and put down
The wheel speed sensors of the vehicle wheel rotational speed of platform.
6. according to the action of described all-hydraulic autonomous mechanical arm arbitrary in claim 1 to 5
Method, it is characterised in that the band of the controller of described double mechanical arms is wider than described all-around mobile and puts down
The bandwidth of the controller of platform.
7. the all-hydraulic autonomous mechanical arm described in claim 1 has the first pattern,
Under described first pattern described omni-directional moving platform motion, described double mechanical arms static, described
Method of operating corresponding to the first pattern includes:
Step (1): use nonholonomic constraint condition to plan in the path followed the tracks of；
Step (2): the path planned according to described step (1), sets described all-around mobile and puts down
The motor pattern of platform, described motor pattern include Ackerman turn to, double Ackerman turn to or
Wheel motor pattern in the same direction；
Step (3): measure the course of described omni-directional moving platform, position and velocity deviation；
Step (4): based on incomplete omni-directional moving platform kinematics model, uses Active Disturbance Rejection Control
(ADRC) corner needed for method calculates described omni-directional moving platform and spin rate control quantity；
Step (5): use Auto-disturbance-rejection Control realize the corner of described omni-directional moving platform and turn
The bottom control of speed.
The method of operating of all-hydraulic autonomous mechanical arm the most according to claim 1, it is special
Levying and be, selected initial point is parallel with world coordinate system at the barycenter of described omni-directional moving platform
Coordinate system freezes world coordinate system as described double mechanical arms and described big visual field servo camera, and this freezes
Knot world coordinate system moves together with described omni-directional moving platform.
9. the method for operating of the all-hydraulic autonomous mechanical arm described in claim 1, its feature exists
In, described all-hydraulic autonomous mechanical arm also has the 3rd pattern, at described 3rd action mould
Described omni-directional moving platform motion under formula, the motion of described double mechanical arms, described 3rd pattern pair
The method of operating answered includes:
Step (1): described navigation camera guides described omni-directional moving platform to move to moving target road
Near footpath；
Step (2): the search of described big visual field servo camera, the appearance of supervision moving target, motion mesh
Mark once occurs, moving target is identified, if moving target is for treating by described big visual field servo camera
The target captured, then estimate the distance of the most described omni-directional moving platform of moving target, otherwise continue
Search；
Step (3): the position of moving target to be captured is supplied to the control of described double-movement mechanical arm
System processed, utilizes described big visual field servo camera to guide described omni-directional moving platform to fortune to be captured
Moving-target moves, and controls described double-movement mechanical arm simultaneously and moves towards moving target to be captured, directly
In being completely in the task space of described double mechanical arms to moving target to be captured and have certain allowance
Time, control described omni-directional moving platform Tong Bu with moving target to be captured；
Step (4): described big visual field servo camera guides the end convergence of described double mechanical arms to wait to capture
Moving target, until moving target to be captured is in the visual field of described trick camera；
Step (5): under the monitoring of described big visual field servo camera, utilizes described trick camera to guide
Workpiece is captured by described double mechanical arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610237222.4A CN105751200B (en) | 2014-12-05 | 2014-12-05 | The method of operating of all-hydraulic autonomous mechanical arm |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410739963.3A CN104476550B (en) | 2014-12-05 | 2014-12-05 | The method of operating of all-hydraulic autonomous mechanical arm |
| CN201610237222.4A CN105751200B (en) | 2014-12-05 | 2014-12-05 | The method of operating of all-hydraulic autonomous mechanical arm |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410739963.3A Division CN104476550B (en) | 2014-12-05 | 2014-12-05 | The method of operating of all-hydraulic autonomous mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105751200A true CN105751200A (en) | 2016-07-13 |
| CN105751200B CN105751200B (en) | 2017-10-20 |
Family
ID=56335273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610237222.4A Expired - Fee Related CN105751200B (en) | 2014-12-05 | 2014-12-05 | The method of operating of all-hydraulic autonomous mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105751200B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751199A (en) * | 2014-12-05 | 2016-07-13 | 济南鲁智电子科技有限公司 | Action method of fully hydraulic autonomous moving mechanical arm |
| CN106956263A (en) * | 2017-04-28 | 2017-07-18 | 广州瑞松北斗汽车装备有限公司 | Automobile component vision guide handgrip |
| CN109955244A (en) * | 2017-12-26 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of crawl control method, device and the robot of view-based access control model servo |
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
| CN110516375A (en) * | 2019-08-29 | 2019-11-29 | 浪潮商用机器有限公司 | A kind of detection method, device, electronic equipment and the storage medium of exception board |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
| CN112691286A (en) * | 2020-12-28 | 2021-04-23 | 哈尔滨理工大学 | Hand-simulated prostate particle implantation robot and use method thereof |
| CN113305839A (en) * | 2021-05-26 | 2021-08-27 | 深圳市优必选科技股份有限公司 | Admittance control method and admittance control system of robot and robot |
| CN113799092A (en) * | 2021-09-29 | 2021-12-17 | 中国华能集团清洁能源技术研究院有限公司 | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot |
| CN115582826A (en) * | 2022-10-14 | 2023-01-10 | 华南理工大学 | Super-redundancy modular mechanical arm based on line driving |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0218139A1 (en) * | 1985-09-20 | 1987-04-15 | Kabushiki Kaisha Meidensha | Manipulator shoulder mechanism |
| US5443354A (en) * | 1992-07-20 | 1995-08-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Hazardous materials emergency response mobile robot |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103085084A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Visual system and working method for high-voltage hot-line operating robot |
| CN103753528A (en) * | 2014-02-18 | 2014-04-30 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN105751199A (en) * | 2014-12-05 | 2016-07-13 | 济南鲁智电子科技有限公司 | Action method of fully hydraulic autonomous moving mechanical arm |
-
2014
- 2014-12-05 CN CN201610237222.4A patent/CN105751200B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0218139A1 (en) * | 1985-09-20 | 1987-04-15 | Kabushiki Kaisha Meidensha | Manipulator shoulder mechanism |
| US5443354A (en) * | 1992-07-20 | 1995-08-22 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Hazardous materials emergency response mobile robot |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN102124866A (en) * | 2011-01-19 | 2011-07-20 | 南京农业大学 | Wheel type mobile fruit picking robot and fruit picking method |
| CN103056866A (en) * | 2013-01-29 | 2013-04-24 | 山东电力集团公司电力科学研究院 | Live-working robot of transformer substation |
| CN103085084A (en) * | 2013-01-29 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Visual system and working method for high-voltage hot-line operating robot |
| CN103753528A (en) * | 2014-02-18 | 2014-04-30 | 中国人民解放军军事医学科学院卫生装备研究所 | Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation |
| CN104476550A (en) * | 2014-12-05 | 2015-04-01 | 济南鲁智电子科技有限公司 | All-hydraulic autonomous moving manipulator and moving method thereof |
| CN105751199A (en) * | 2014-12-05 | 2016-07-13 | 济南鲁智电子科技有限公司 | Action method of fully hydraulic autonomous moving mechanical arm |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751199B (en) * | 2014-12-05 | 2018-05-22 | 济南鲁智电子科技有限公司 | The method of operating of all-hydraulic autonomous mechanical arm |
| CN105751199A (en) * | 2014-12-05 | 2016-07-13 | 济南鲁智电子科技有限公司 | Action method of fully hydraulic autonomous moving mechanical arm |
| CN106956263A (en) * | 2017-04-28 | 2017-07-18 | 广州瑞松北斗汽车装备有限公司 | Automobile component vision guide handgrip |
| CN109955244A (en) * | 2017-12-26 | 2019-07-02 | 深圳市优必选科技有限公司 | A kind of crawl control method, device and the robot of view-based access control model servo |
| CN110142750A (en) * | 2019-06-17 | 2019-08-20 | 山东大学 | A kind of multiple degrees of freedom realizes the mechanical arm done more physical exercises and method |
| CN110516375B (en) * | 2019-08-29 | 2021-06-01 | 浪潮商用机器有限公司 | Abnormal board card detection method and device, electronic equipment and storage medium |
| CN110516375A (en) * | 2019-08-29 | 2019-11-29 | 浪潮商用机器有限公司 | A kind of detection method, device, electronic equipment and the storage medium of exception board |
| CN112540534A (en) * | 2019-09-20 | 2021-03-23 | 九江精密测试技术研究所 | Control method of ship-borne large-load parallel stable platform |
| CN110757467A (en) * | 2019-12-15 | 2020-02-07 | 华南理工大学广州学院 | Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer |
| CN112691286A (en) * | 2020-12-28 | 2021-04-23 | 哈尔滨理工大学 | Hand-simulated prostate particle implantation robot and use method thereof |
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
| CN113305839A (en) * | 2021-05-26 | 2021-08-27 | 深圳市优必选科技股份有限公司 | Admittance control method and admittance control system of robot and robot |
| CN113799092A (en) * | 2021-09-29 | 2021-12-17 | 中国华能集团清洁能源技术研究院有限公司 | Offshore wind power double-arm teleoperation intelligent operation and maintenance robot |
| CN115582826A (en) * | 2022-10-14 | 2023-01-10 | 华南理工大学 | Super-redundancy modular mechanical arm based on line driving |
| CN115582826B (en) * | 2022-10-14 | 2024-03-19 | 华南理工大学 | Super-redundancy modularized mechanical arm based on line driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105751200B (en) | 2017-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104476550B (en) | The method of operating of all-hydraulic autonomous mechanical arm | |
| CN105751200A (en) | Action method of fully hydraulic autonomous moving mechanical arm | |
| CN105751199A (en) | Action method of fully hydraulic autonomous moving mechanical arm | |
| CN106625665B (en) | A kind of drilling milling machine device people's system of packaged type automatic addressing | |
| CN106774310B (en) | A kind of robot navigation method | |
| CN205870513U (en) | Intelligent movement manipulator | |
| CN104400279B (en) | Pipeline space weld seam based on CCD identifies the method with trajectory planning automatically | |
| Martinelli et al. | Multi-robot localization using relative observations | |
| CN103240739B (en) | Automatic switching control method for decentralization and centralization of mobile manipulators | |
| CN104570938B (en) | A kind of control method inserting the two arm robot system in production | |
| CN103692433B (en) | Model decoupling three-arm-lever five-freedom-degree translation welding robot and decoupling method thereof | |
| Bostelman et al. | Survey of research for performance measurement of mobile manipulators | |
| Freitas et al. | Kinematic reconfigurability control for an environmental mobile robot operating in the amazon rain forest | |
| US10295069B2 (en) | Integrated valve for a legged robot | |
| CN113246120A (en) | Teleoperation control method of hydraulic four-foot double-arm robot | |
| CN111733920B (en) | Intelligent feeding control system and control method thereof | |
| CN110293345A (en) | A kind of intersecting line welding robot based on embedded vision | |
| Aref et al. | A macro-micro controller for pallet picking by an articulated-frame-steering hydraulic mobile machine | |
| Liu et al. | A novel six-legged walking machine tool for in-situ operations | |
| CN103862458A (en) | Six-degree-of-freedom parallel platform for airborne servo system | |
| CN204819543U (en) | Centralized control formula multirobot motion control system | |
| CN116620802B (en) | Transportation method utilizing indoor construction intelligent material transportation system | |
| Backes et al. | Automated rover positioning and instrument placement | |
| CN114378827B (en) | Dynamic target tracking and grabbing method based on overall control of mobile mechanical arm | |
| CN205764378U (en) | A kind of Intelligent welding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171020 Termination date: 20181205 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |