CN106476012B - A kind of control method of auxiliary mechanical arm control system - Google Patents
A kind of control method of auxiliary mechanical arm control system Download PDFInfo
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- CN106476012B CN106476012B CN201610906933.6A CN201610906933A CN106476012B CN 106476012 B CN106476012 B CN 106476012B CN 201610906933 A CN201610906933 A CN 201610906933A CN 106476012 B CN106476012 B CN 106476012B
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims description 39
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 37
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 7
- 238000011160 research Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
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- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of novel auxiliary mechanical arm control system and its control methods, including master lever and master controller, the input terminal connection analogue collection module and digital data acquisition module of the master controller, its output end is equipped with analog output module, the master lever and analogue collection module, digital data acquisition module is connected, the analog quantity of the analog output module output sends multiple hydraulic efficiency servo-valves to after amplifying by servo amplifier, multiple hydraulic efficiency servo-valves control auxiliary mechanical arm movement, and the signal of the limit sensors acquisition on the angling cylinder of auxiliary mechanical arm feeds back to master controller, linear displacement transducer acquisition signal on the oscillating oil cylinder of auxiliary mechanical arm feeds back to master controller, main control its auxiliary mechanical arm is accurately controlled further according to feedback signal.
Description
Technical field
The present invention relates to distribution network live line work fields, are a kind of to be related to the auxiliary of robot for high-voltage hot-line work specifically
Mechanical arm controller and its control method are helped, is mainly used for being used cooperatively with mechanical arm, completes the replacement in power distribution live-wire
The heavy duty job task such as cross-arm, transformer.
Background technique
The gentle safety of Automated water in order to improve livewire work, mitigates the labor intensity and strong-electromagnetic field of operator
The person of operator is threatened, many countries have all successively carried out the research of hot line robot from the eighties, such as day
The country such as sheet, Spain, the U.S., Canada, France has successively carried out the research to hot line robot.China in 2002
The development of robot for high-voltage hot-line work commercialization model machine is carried out.
Hot line robot completes the development of laboratory prototype, by a large amount of by years of researches and practice
Field test demonstrates demand and value of the robot in live working of distribution network, at the same also demonstrate research approach can
Row, the reasonability of design.But robot manipulating task content is more single, is mostly using double mechanical arms master-slave control method, no
Whole live working of distribution network projects can be covered, robot cannot carry out operation, therefore and power distribution network under complicated line environment
The production physical presence gap of livewire work.Therefore it needs to develop big prudent/self weight than auxiliary mechanical arm, increases for robot auxiliary
Big prudent auxiliary mechanical arm is helped, to complete the heavily loaded job task such as replacement cross-arm, transformer.
Big prudent hydraulic auxiliary mechanical arm research is also one of the hot spot of robot research always, common in the world at present
Industrial robot load ratio is in 1:10 or less.By the constraint of line environment and aerial lift device with insulated arm, it is desirable that table-top integrally weighs
Amount cannot be excessive, at present generally in 500~600Kg.According to research experience, auxiliary mechanical arm should be limited within 100Kg, therefore
It is required that auxiliary mechanical arm should reach the top load ratio of 3:1 or so, and guarantee that system has enough rigidity, to guarantee that end is controlled
Precision and stability processed.Existing auxiliary mechanical arm structure is simple, and control mode is mostly manually controlled using hydraulic valve, without
Position sensor accurately controls so not can be carried out position.
Summary of the invention
To solve the shortcomings of the prior art, the invention discloses a kind of control system of auxiliary mechanical arm and its controls
Method, the control system replace the arm of people to complete 10kV distribution line replacement cross-arm, replacement transformation using master-slave control method
The heavy duty job task such as device.
To achieve the above object, concrete scheme of the invention is as follows:
The control system of big prudent hydraulic auxiliary mechanical arm, including master lever and master controller, the master controller
Input terminal connection analogue collection module and digital data acquisition module, output end is equipped with analog output module, described
Master lever is connected with analogue collection module, digital data acquisition module, the analog quantity of the analog output module output
Send multiple hydraulic efficiency servo-valves, multiple hydraulic efficiency servo-valves control auxiliary mechanical arm fortune after amplifying by servo amplifier to
It is dynamic, and the signal of the limit sensors acquisition on the angling cylinder of auxiliary mechanical arm feeds back to master controller, auxiliary mechanical arm
Linear displacement transducer acquisition signal on oscillating oil cylinder feeds back to master controller, and master controller is further according to feedback signal to auxiliary
Mechanical arm is accurately controlled.
Further, the auxiliary mechanical arm, including pedestal, large arm, forearm and gripper, are equipped on the pedestal
One swing hydraulic pressure oil cylinder, swing hydraulic pressure oil cylinder drive large arm pedestal in the horizontal plane 180 degree rotate, the large arm pedestal with
Large arm is connected by joint II, and hinged driving large arm is the pitching oil cylinder I of pitching movement on large arm pedestal, and described is big
The end of arm pitching fortune is done under the driving of pitching oil cylinder II by the hinged perpendicular forearm of joint III, the forearm
It is dynamic；Pass through one gripper of joint IV connection in the end of forearm.
Further, the master lever has two freedom of motion of X, Y, can carry out the motion control of X, Y-direction simultaneously
Signal output；The joint II of master lever X freedom degree control auxiliary mechanical arm；Master lever Y freedom degree controls auxiliary mechanical arm
Joint III, so that it is guaranteed that the horizontal front and back of mechanical arm tail end and vertical up-or-down movement.
Further, the swing hydraulic pressure cylinder upper end is connect with large arm pedestal, and the oscillating oil cylinder can be in horizontal plane
It is rotated within the scope of interior 0~180 degree.
Further, large arm pedestal one end is connect with swing hydraulic pressure oil cylinder, and the other end is connected with large arm, and pitching oil
Cylinder I pedestal is fixed on large arm pedestal；The piston rod driving large arm of pitching oil cylinder I does pitching movement.
Further, the pitching oil cylinder I has linear displacement transducer I, accurately controls large arm by servo valve
Pitching movement.
Further, the pitching oil cylinder II has linear displacement transducer II, accurately controls forearm by servo valve
Pitching movement.
It is as follows using the control system to the control method of the large arm of auxiliary mechanical arm, the swing angle of forearm:
The analog data output of master lever inputs to master controller as control instruction；Main controller controls mechanical arm
Movement；The moving displacement of mechanical arm feeds back to master controller, linear displacement transducer I, straight line position by linear displacement transducer
The data of the acquisition of displacement sensor II, which enter after master controller, calculates servo valve driving data difference by posture analytical algorithm
Driving servo valve I, servo valve II make joint II, joint III move to angle, θ1、θ2, master controller by control servo valve stream
It measures to control the action displacement of hydraulic actuator, the final position servo control realized to mechanical arm.
The posture analytical algorithm is specific as follows:
If big arm lengths are a1, forearm a2, joint II, the joint shaft of joint III are parallel, the rotation angle of joint II
Degree is θ1；The rotation angle of joint III is θ2；It is by coordinate system of pedestal { A }；Coordinate where the III of joint is that coordinate system is
{B}；Position of the mechanical arm tail end in base coordinate system { A } is first solved, then solves θ again1、θ2Size.
It is specific as follows:
Step (1) set position of the mechanical arm tail end in coordinate system { A } as
Step (2) acquires position of the mechanical arm tail end in coordinate system { B } by known conditions
Step (3) is joint II, the large arm pedestal of joint III, large arm, 3 × 3 homogeneous transformation matrix of forearm establishment of coordinate systemIndicate the relationship with previous part coordinates system；From known conditionsWherein:
Step (4) can be obtained by step (1), (2), (3):
Step (5) acquires:
Step (6) acquires position of the mechanical arm tail end in coordinate system { A }According to the long a of mechanical armed lever1、a2With
Position of the mechanical arm tail end in coordinate system { A }, can find out corresponding θ1And θ2, it solves:
Above-mentioned ApBIndicate intermediate parameters.
Beneficial effects of the present invention:
1. the big prudent hydraulic auxiliary mechanical arm control system of designed, designed of the present invention experiments verify that, instead of the arm of people
Complete 10kV distribution charged for replacement cross-arm, transformer heavy duty task.
2. large arm pitching and forearm pitching two-axle interlocking may be implemented in auxiliary mechanical arm control system, end can carry out generation
The movement of boundary's coordinate system.
3. a kind of novel control algolithm of Control System Design, algorithm is realized simple, avoids using complicated kinematics
Positive and negative resolving Algorithm.
4. this system master controller is using mature PLC controller, strong antijamming capability, failure rate is low, and compatible C
Programming with Pascal Language can carry out complicated floating-point operation function, such as: arithmetical operation, logical operation and trigonometric function.
Detailed description of the invention
Fig. 1 is auxiliary mechanical arm structure chart of the present invention；
Fig. 2 is structure of the invention principle general diagram；
Fig. 3 is the mechanical arm configuration figure of plane two-freedom series connection of the present invention；
Fig. 4 is auxiliary mechanical arm control flow chart of the present invention；
Fig. 5 (1), Fig. 5 (2), Fig. 5 (3), Fig. 5 (4) are master lever schematic diagrames of the present invention；
In figure: 1 pedestal, 2 oscillating oil cylinders, 3 large arm pedestals, 4 big arm cylinders, 5 large arm, 6 forearm oil cylinders, 7 forearms, 8 hands
Pawl, 9 joint I, 10 joint II, 11 joint III, 12 joint IV.
Specific embodiment:
The present invention is described in detail with reference to the accompanying drawing:
The mechanical arm that the present invention is controlled includes pedestal, large arm, forearm and gripper, and a liquid is equipped on the pedestal
Oscillating oil cylinder is pressed, swing hydraulic pressure oil cylinder drives large arm pedestal, and 180 degree rotates in the horizontal plane, and the large arm pedestal and large arm are logical
It crosses joint II10 to be connected, and hinged driving large arm is the pitching oil cylinder I of pitching movement on large arm pedestal, the large arm
End pitching movement is done under the driving of pitching oil cylinder II by the hinged perpendicular forearm of joint III11, the forearm；
Pass through one gripper of joint IV12 connection in the end of forearm.
Specific reference to Fig. 1, the livewire work auxiliary mechanical arm that control system of the invention is directed to, including pedestal 1, pendulum
Dynamic oil cylinder 2, large arm pedestal 3, big arm cylinder 4, large arm 5, forearm oil cylinder 6, forearm 7, gripper 8.
Oscillating oil cylinder 2 is connected by screw on pedestal 1, and large arm pedestal 3 is connected by the connection of screw one end and oscillating oil cylinder 2
It is connected together, other end connection is connected with large arm 5, and big arm cylinder 4 is connected to big arm cylinder seat 3 by screw one end, another
End is connected in large arm 5, and forearm 7 is linked together by screw and large arm 5, and forearm oil cylinder 6 is connected to greatly by screw one end
On arm 5, the other end is connected on forearm 7, and gripper 8 is connected by screw on forearm 7.Wherein joint I9 refers to oscillating oil cylinder
2 with the rotary joint of large arm pedestal 3；The large arm pedestal is connected with large arm by joint II10；The end of the large arm
Pass through the hinged perpendicular forearm of joint III11；The end of forearm passes through one gripper of joint IV12 connection.
Further, swing hydraulic pressure cylinder upper end is connect with large arm pedestal, the oscillating oil cylinder can in the horizontal plane 0~
It is rotated within the scope of 180 degree.
Further, large arm pedestal one end is connect with swing hydraulic pressure oil cylinder, and the other end is connected with large arm, and pitching oil cylinder I
Pedestal is fixed on large arm pedestal；The piston rod driving large arm of pitching oil cylinder I does pitching movement.
Further, pitching oil cylinder I has linear displacement transducer I, and the pitching of large arm is accurately controlled by servo valve
Movement.
Further, pitching oil cylinder II has linear displacement transducer II, accurately controls bowing for forearm by servo valve
Face upward movement.
For mechanical arm recited above, control system as shown in Fig. 2, auxiliary mechanical arm control system in the present invention,
Including master lever, PLC master controller, angling cylinder servo valve, big arm cylinder servo valve, forearm oil cylinder servo valve, gripper rotation
Turn oil cylinder servo valve, gripper opening and closing cylinder servo valve, angling cylinder, big arm cylinder, forearm oil cylinder, gripper rotary oil cylinder, gripper
Opening and closing cylinder, sensing system.
The analog data output of master lever inputs to PLC master controller, while joint of mechanical arm as control instruction
Moving displacement PLC master controller is fed back to by high-precision rectilinear transducer, two-way analog quantity enter after master controller by
Posture analytical algorithm calculates servo valve driving data, and PLC master controller controls hydraulic hold by controlling the flow of servo valve
The action displacement of row device, the final position servo control realized to mechanical arm.
The master lever has two freedom of motion of X, Y, can carry out the motion control signal output of X, Y-direction simultaneously,
Data-signal is -10V~10V analog voltage.The pedestal joint that control stick X freedom degree controls auxiliary mechanical arm rotates left and right；
Control stick Y freedom degree controls the two-axle interlocking of auxiliary mechanical arm large arm and forearm, so that it is guaranteed that the horizontal front and back of mechanical arm tail end
With vertical up-or-down movement, specific forms of motion is controlled by trigger S4.When trigger S4 is pressed, Y freedom degree controls auxiliary machine
Tool arm end is moved forward and backward as level；When trigger S4 unclamps, Y freedom degree control auxiliary mechanical arm end is vertically transported
It is dynamic.Button S1 can also control the single axial movement of mechanical arm, and when selecting single axial movement constantly, trigger S4 is pressed, then large arm
Make single-shaft-rotation movement, S4 is not pressed, then forearm makees single-shaft-rotation movement.
PLC master controller uses Keyemce PLC KV-N24DT type, and 10000 steps of the speed of service/ms can use ladder diagram
+ script (supporting C language mode) programming.
Analogue collection module use 1 four road analog input expansion module KV-NC4AD, acquisition voltage range 0~
10V, 80 μ s/ch of conversion speed.
Analog output module uses 3 two-way analog output expansion module KV-NC2DA, output voltage range 0~
10V, 80 μ s/ch of conversion speed.
Master lever has two freedom of motion of X, Y, and data-signal is the analog voltage of 0~10V, and have S1, S2,
The digital switch of S3, S4.
Linear displacement transducer selects contactless mangneto telescopic displacement sensor BTL6-A500-E2/E28-KA, power supply
10~30V of voltage, 0~10V of output voltage range.
Ship heavy industry CSDY1 jet pipe servo valve in hydraulic efficiency servo-valve use, 0~20ma of supply current.
Referring to Fig. 3, it is large arm and the analysis schematic diagram that forearm moves, is made of two joints, large arm and forearm difference
a1And a2, two rotary joint axis are parallel, joint II range of motion theta1It is 85 °~95 °, joint III range of motion theta2For 75 °~
135 °, it is by coordinate system of pedestal { A }；Coordinate where the III of joint is that coordinate system is { B }；Mechanical arm tail end is first solved in base
Position in seat coordinate system { A }, then solves θ again1、θ2Size.
Specific design parameter is as shown in table 1.
The design parameter of 1 plane two-freedom of table series connection robot linkage
| i | θ | Joint variable angle | Length of connecting rod | Hydraulic cylinder parameter |
| 1 | θ1 | 85 °~95 ° | 1250mm | 380mm (stroke 100mm) |
| 2 | θ2 | 75 °~135 ° | 1800mm | 680mm (stroke 400mm) |
It is as follows to solve position process of the mechanical arm tail end in coordinate system { A }:
(1) set position of the mechanical arm tail end in coordinate system { A } as
(2) can acquire position of the p point in coordinate system { B } by known conditions is
(3) from known conditionsWherein:
(4) it can be obtained by (1), (2), (3):
(5) so:
Provide position of the mechanical arm tail end in coordinate system { A }According to the long a of mechanical armed lever1、a2With formula (5)
Corresponding θ can be found out1And θ2, it solves:Robot end is given when reset
End position:
Referring to fig. 4, when big prudent hydraulic auxiliary mechanical arm is in automatic motion mode, according to the movement control write in advance
Processing procedure sequence automatic cycle executes, until pressing the control button on control panel.
Turn-key system procedure routine, system electrification button are pressed, and next step system reset reads linear sensing data,
Control instruction is received, if control instruction is single axial movement, according to the 2 data computer tool arm end mechanical arm single axial movement θ 1 and θ
End position (x, y) calculates θ 1 and θ 2 by equation group (1) according to mechanical arm tail end coordinate (x, y) if two-axle interlocking.It executes
After the completion of running program, returns and read linear sensor data loop operation.
Referring to Fig. 5 (1)-Fig. 5 (4), which has two freedom of motion of X, Y, can carry out the movement of X, Y-direction simultaneously
Signal output is controlled, data-signal is -10V~10V analog voltage.The pedestal of control stick X freedom degree control auxiliary mechanical arm
Joint rotates left and right；Control stick Y freedom degree controls the two-axle interlocking of auxiliary mechanical arm large arm and forearm, so that it is guaranteed that mechanical arm is last
The horizontal front and back at end and vertical up-or-down movement, specific forms of motion are controlled by trigger S4.When trigger S4 is pressed, Y is free
Degree control auxiliary mechanical arm end is moved forward and backward as level；When trigger S4 unclamps, Y freedom degree controls auxiliary mechanical arm end and makees
Vertical up-or-down movement.Button S1 can also control the single axial movement of mechanical arm, when selection single axial movement constantly, trigger S4
It presses, then large arm makees single-shaft-rotation movement, and S4, which is not pressed, is, forearm makees single-shaft-rotation movement.
In the application, PLC master controller uses Keyemce PLC KV-N24DT type, and 10000 steps of the speed of service/ms can be with
Using ladder diagram+script (supporting C language mode) programming.
The analogue collection module uses 1 four road analog input expansion module KV-NC4AD, acquisition voltage range 0
~10V, 80 μ s/ch of conversion speed.
The analog output module uses 3 two-way analog output expansion module KV-NC2DA, output voltage range
0~10V, 80 μ s/ch of conversion speed.
Master lever has two freedom of motion of X, Y, and data-signal is the analog voltage of 0~10V, and have S1, S2,
The digital switch of S3, S4.
Linear displacement transducer selects contactless mangneto telescopic displacement sensor BTL6-A500-E2/E28-KA, power supply
10~30V of voltage, 0~10V of output voltage range.
Ship heavy industry CSDY1 jet pipe servo valve in hydraulic efficiency servo-valve use, 0~20ma of supply current.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (3)
1. a kind of control method of auxiliary mechanical arm control system, the control system includes master lever and master controller, institute
The input terminal connection analogue collection module and digital data acquisition module for the master controller stated, output end are equipped with analog output
Module, the master lever are connected with analogue collection module, digital data acquisition module, and the analog output module is defeated
Analog quantity out sends multiple hydraulic efficiency servo-valves to after amplifying by servo amplifier, multiple hydraulic efficiency servo-valves control is auxiliary
Manipulator motion is helped, and the signal of the limit sensors acquisition on the angling cylinder of auxiliary mechanical arm feeds back to master controller, it is auxiliary
The linear displacement transducer acquisition signal helped on the oscillating oil cylinder of mechanical arm feeds back to master controller, and master controller is further according to feedback
Signal accurately controls auxiliary mechanical arm；The auxiliary mechanical arm includes pedestal, large arm, forearm and gripper, described
Pedestal be equipped with a swing hydraulic pressure oil cylinder, swing hydraulic pressure oil cylinder drive large arm pedestal in the horizontal plane 180 degree rotate, it is described
Large arm pedestal be connected with large arm by joint II, and on large arm pedestal it is hinged one driving large arm do pitching movement pitching oil
The end of cylinder I, the large arm pass through the hinged perpendicular forearm of joint III, drive of the forearm in pitching oil cylinder II
Pitching movement is done under dynamic；Pass through one gripper of joint IV connection in the end of forearm；The pitching oil cylinder I is passed with straight-line displacement
Sensor I accurately controls the pitching movement of large arm by servo valve；The pitching oil cylinder II has linear displacement transducer II,
Its pitching movement that forearm is accurately controlled by servo valve, which is characterized in that as follows:
The analog data output of master lever inputs to master controller as control instruction；Main controller controls mechanical arm fortune
It is dynamic；The moving displacement of mechanical arm feeds back to master controller, linear displacement transducer I, straight-line displacement by linear displacement transducer
The data of the acquisition of sensor II, which enter after master controller, to be calculated servo valve driving data by posture analytical algorithm and drives respectively
Dynamic servo valve I, servo valve II make joint II, joint III move to angle, θ1、θ2, θ1、θ2For joint variable angle, master controller
The action displacement of hydraulic actuator, the final position servo control realized to mechanical arm are controlled by controlling the flow of servo valve
System.
2. utilizing control method described in claim 1, which is characterized in that the posture analytical algorithm is specific as follows:
If big arm lengths are a1, forearm a2, joint II, the joint shaft of joint III are parallel, and the rotation angle of joint II is
θ1；The rotation angle of joint III is θ2；It is by coordinate system of pedestal { A }；Coordinate where the III of joint is that coordinate system is { B }；First
Position of the mechanical arm tail end in base coordinate system { A } is solved, then solves θ again1、θ2Size.
3. utilizing control method as claimed in claim 2, which is characterized in that specific as follows:
Step (1) set position of the mechanical arm tail end in coordinate system { A } as
Step (2) acquires position of the mechanical arm tail end in coordinate system { B } by known conditions
Step (3) is joint II, the large arm pedestal of joint III, large arm, 3 × 3 homogeneous transformation matrix of forearm establishment of coordinate system
Indicate the relationship with previous part coordinates system；From known conditionsWherein:
Step (4) can be obtained by step (1), (2), (3):
Step (5) acquires:
Step (6) acquires position of the mechanical arm tail end in coordinate system { A }According to the long a of mechanical armed lever1、a2And machinery
Position of the arm end in coordinate system { A }, can find out corresponding θ1And θ2, it solves:
Above-mentioned ApBIndicate intermediate parameters.
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| CN108717713B (en) * | 2018-05-23 | 2021-11-30 | 南京理工大学 | Cross arm attitude measurement method based on binocular vision under complex background |
| CN112191354A (en) * | 2020-10-09 | 2021-01-08 | 矿冶科技集团有限公司 | Control method, device, system, control equipment and computer readable storage medium |
| CN112343878B (en) * | 2020-10-15 | 2023-01-13 | 南京晨光集团有限责任公司 | Hydraulic driving system for linear motion of mechanical arm and intelligent control method thereof |
| CN112440280A (en) * | 2020-11-13 | 2021-03-05 | 国网天津市电力公司 | Hydraulic mechanical arm with master-slave control function for electric power live working |
| CN112757309B (en) * | 2020-12-08 | 2022-05-24 | 南京科工煤炭科学技术研究有限公司 | Control system and control method of spraying robot |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
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