CN106507966B - Carry the emergent robot of coring and its control method of four-degree-of-freedom mechanical hand - Google Patents
Carry the emergent robot of coring and its control method of four-degree-of-freedom mechanical handInfo
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- CN106507966B CN106507966B CN201110012241.4A CN201110012241A CN106507966B CN 106507966 B CN106507966 B CN 106507966B CN 201110012241 A CN201110012241 A CN 201110012241A CN 106507966 B CN106507966 B CN 106507966B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 210000000707 wrist Anatomy 0.000 claims abstract description 53
- 239000002184 metal Substances 0.000 claims abstract description 37
- 229910052751 metal Inorganic materials 0.000 claims abstract description 37
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 18
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 18
- 210000003857 wrist joint Anatomy 0.000 claims description 31
- 238000005259 measurement Methods 0.000 claims description 15
- 210000000245 forearm Anatomy 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 2
- 239000010931 gold Substances 0.000 claims description 2
- 229910052737 gold Inorganic materials 0.000 claims description 2
- 230000002045 lasting effect Effects 0.000 claims 1
- 210000003797 carpal joint Anatomy 0.000 abstract 2
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 239000005364 simax Substances 0.000 description 2
- XXXSILNSXNPGKG-ZHACJKMWSA-N Crotoxyphos Chemical compound COP(=O)(OC)O\C(C)=C\C(=O)OC(C)C1=CC=CC=C1 XXXSILNSXNPGKG-ZHACJKMWSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The present invention relates to the teleoperation method of four-degree-of-freedom mechanical hand is carried in a kind of coring scouting with emergency processing robot；Its step is that 1, operator determine target object in the anterior center shot by camera picture of robot, controls robot and rotates the left and right center position for being located at picture to target object；2nd, controller people is moved to target object distance as halting when at setting value；3rd, control shoulder joint, elbow joint and vertical carpal joint are rotated and make mechanical hand metal finger near target object；4th, adjustment robot direction makes target object be located at the left and right center position of wrist video camera shooting picture, it is consistent with target object that control rotation carpal joint turns to metal fingers opening-closing direction, open generating laser below wrist, it is close that control metal hand points to target object, stop during center position upper and lower in picture to laser facula, metal finger closes up realization and target object remote operating is captured；Compared with prior art, level is apparent for the present invention, and control is reliable accurately.
Description
Technical field
The present invention relates to robotics, particularly a kind of coring for carrying four-degree-of-freedom manipulator meet an urgent need robot and its
Control method.
Background technology
The emergent robot of coring is the important application of robotics, is put because it can enter to exist instead of personnel
Personnel are just more and more had great threat to dash forward by penetrating property and the hazardous environment of chemical contamination applied to various in confused situation
The emergency processing work of hair event.In its application process, it is often required to be carried with emergency processing robot using coring scouting
Four-degree-of-freedom manipulator carry out dangerous objects close to and crawl, existing Robot actions are complicated, bulky, inconvenience
Carried in the emergent robot of coring.
Additionally due to four-degree-of-freedom manipulator is fixed together with coring scouting with emergency processing robot, the control of the manipulator
It is closely related with coring scouting and the motion of emergency processing robot, how to position target object and close to and capture the object one
It is directly a difficult point in the field.The control method to manipulator is broadly divided into autonomous control at present and remote operating is controlled.Independently
The repeating motion mainly for the accuracy in industry mechanical arm is controlled to control, the method measured by vision or sensor is positioned
Target object, then automatic control manipulator moved to target object.This method has well under the environment of plant of standardization
Effect, but can not then be applied in the environment of destructuring.Remote operating is controlled mainly under non-structured complex environment
Manipulator control, this method rely primarily on manipulator carrying video camera carry out video feed help operating personnel be controlled,
But this method telepresenc is poor, crawl process is inaccurate, unreliable.Meanwhile, whether autonomous control or distant behaviour at present
Control mostly to be controlled just for fixed manipulator, for being mounted in the four-degree-of-freedom machine that coring is met an urgent need in robot
The control method of tool hand has not been reported.
The content of the invention
It is an object of the invention to provide a kind of control by process, the crawl process of manipulator can be made accurate, reliable
The coring of carrying four-degree-of-freedom manipulator meet an urgent need robot and its control method.Realize the technical solution of the object of the invention
For：A kind of emergent robot of the coring for carrying four-degree-of-freedom manipulator, it is characterised in that including front wheels and rear wheels, front-wheel is drive
Driving wheel, trailing wheel is supporting roller, and the front and rear wheel of the left and right sides is coated by two crawler belts respectively, constitutes the walking mechanism of robot,
It is coaxial with robot front-wheel that crawler type guide arm mechanism is installed, and using front axle as center of rotation, can be along robot direct of travel
360 ° of circumference rotations are done, video camera, ultrasonic range finder sensor and infrared distance measurement are provided with the front dead center position of robot and is passed
Sensor；The coring meet an urgent need robot carry four-degree-of-freedom mechanical arm include shoulder joint, elbow joint, vertical wrist joint and
Wrist joint is rotated, wherein shoulder joint is located at coring scouting and the center of emergency processing robot front axle, manipulator postbrachium
One end is connected with shoulder joint, and the other end is connected with elbow joint, and one section of manipulator forearm is connected with elbow joint, the other end with it is vertical
Wrist joint is connected, and mechanical wrist part one end is vertical wrist joint, and the other end is to be set on rotation wrist joint, rotary joint
Have and direct current generator be provided with retractable metal finger, each joint, shoulder joint can 180 ° of continuous rotations, elbow joint,
Vertical wrist joint and rotation wrist joint can 360 ° of continuous rotations, on mechanical wrist part joint top, axial location is provided with shooting
Machine, lower axis position is provided with miniature laser transmitter.
A kind of control method of the emergent robot of the coring for carrying four-degree-of-freedom manipulator, it is characterised in that follow these steps to carry out：
Step 1：Determine to need crawl in the picture that the shot by camera of the anterior center position installation of robot is met an urgent need in coring
Target object, the direction and speed for controlling left and right caterpillar drive make it that coring robot of meeting an urgent need produces rotation, until object
Body is located at setting position P in video camera shooting picture；
Step 2：The emergent equidirectional constant speed of robot left and right sides crawler belt of control coring travels forward, robot front portion center
The distance between ultrasonic range finder sensor and the emergent robot of infrared distance sensor measurement coring and target object S, when S is small
When setting value, robot halts；
Step 3：Control shoulder joint, elbow joint and vertical wrist joint are rotated respectively so that postbrachium and coring emergent robot top
Angle between face is θ1, the angle between forearm and postbrachium is θ2, the angle between wrist and forearm 5 is θ3, to ensure to grab
Take accuracy during target object, it is desirable to θ3=θ1+θ2, constantly change θ1、θ2、θ3Size so that the gold of arm end
Belong to finger constantly close to target object；
Step 4：By controlling the direction of motion and speed of the emergent robot left and right sides crawler belt of coring, robot is adjusted slightly
Direction so that target object wrist shot by camera picture left and right center position, control rotation wrist joint rotate,
So that target object is consistent with the folding direction of metal finger, it is easy to crawl, opens the miniature laser transmitting installed below wrist
Device, laser facula is beaten on target object, changes θ1、θ2、θ3Size, metal finger continue it is close to target object,
Then in wrist shot by camera picture, the hot spot on target object is moved from top to bottom, is located at when hot spot is on picture
During the Q of setting position, manipulator stop motion, now target object be in metal finger between.Metal finger closure is controlled,
Realize emergent crawl of the robot to target object of the coring for carrying four-degree-of-freedom manipulator.
Compared with prior art, its remarkable advantage is the present invention：1st, the video of the camera carried is hit exactly using robot front portion
Feedback picture and the anterior ultrasound carried, infrared distance sensor, the emergent robot motion of control coring, realize that robot takes
The four-degree-of-freedom manipulator of load moving horizontally and rotating so that this process is steady；2nd, four-degree-of-freedom mechanical wrist part is utilized
Carry the generating laser below the video feed and wrist of video camera and realize stabilization of the four-degree-of-freedom manipulator for target object
Crawl, the impact to the emergent robot of coring and target object is small.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the present invention close to target object stage schematic diagram.
Fig. 3 is that four-degree-of-freedom manipulator of the present invention is schematically represented intention close to target object.
Fig. 4 is four-degree-of-freedom manipulator crawl object schematic diagram of the present invention.
Fig. 5 is example of the present invention schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.
A kind of emergent robot of the coring for carrying four-degree-of-freedom manipulator, including front wheels and rear wheels, front-wheel is driving wheel, trailing wheel
For supporting roller, the front and rear wheel of the left and right sides is coated by two crawler belts respectively, the walking mechanism of robot is constituted, with robot
Front-wheel is coaxial to be provided with crawler type guide arm mechanism, and using front axle as center of rotation, 360 degree can be done along robot direct of travel
Circumference rotates, and the front dead center position of robot is provided with video camera, ultrasonic range finder sensor and infrared distance sensor；
The coring meet an urgent need robot carry four-degree-of-freedom mechanical arm include shoulder joint 2, postbrachium 3, elbow joint 4, forearm 5,
Vertical wrist joint 6, wrist 7, the rotation θ of wrist joint 1 and metal finger 11, wherein shoulder joint 2, which are located at coring, to be scouted and emergent
The center of handling machine people's front axle, one end of manipulator postbrachium 3 is connected with shoulder joint 2, the other end and the phase of elbow joint 4
Even, 5 one sections of manipulator forearm is connected with elbow joint 4, and the other end is connected with vertical wrist joint 6, and the one end of wrist 7 is vertical
Wrist joint 6, the other end is to be provided with retractable metal finger 11 on rotation wrist joint 10, rotation wrist joint 10, each
Direct current generator is provided with joint, shoulder joint 2 can 180 ° of continuous rotations, elbow joint 4, vertical wrist joint 6 and rotation wrist
Joint 10 can 360 ° of continuous rotations, on mechanical wrist part joint top, axial location is provided with wrist video camera 8, bottom axle
Line position is provided with small-sized wrist generating laser 9；Lead in the sensor assembly 13 of the anterior center position of the emergent robot of coring
Sensor assembly support 12 is crossed on robot car body 1, infrared distance sensor 14 is installed on sensor assembly 13,
Ultrasonic range finder sensor 15, video camera 16.
A kind of control method for robot of being met an urgent need based on the coring for carrying four-degree-of-freedom manipulator, it is characterised in that follow these steps
Carry out：
Step 1：Determine that needs are grabbed in the picture that coring is met an urgent need captured by the video camera 16 of the anterior center position installation of robot
The target object taken, the direction and speed for controlling left and right caterpillar drive make it that the emergent robot of coring produces rotation, until target
Object is located at the center position on left and right directions in the shooting picture of video camera 16.
Step 2：The emergent equidirectional constant speed of robot left and right sides crawler belt of control coring travels forward, robot front portion center
The distance between ultrasonic range finder sensor 15 and the emergent robot of the measurement coring of infrared distance sensor 14 and target object S,
But when S is less than 3/4ths of the four-degree-of-freedom manipulator spread length that the emergent robot of coring is carried, robot halts.
Step 3：Control shoulder joint 2, elbow joint 4 and vertical wrist joint 6 are rotated respectively so that postbrachium 3 and the emergent machine of coring
Angle between device people's top surface is θ1, the angle between forearm 5 and postbrachium 3 is θ2, the angle between wrist 7 and forearm 5 is
θ3, to ensure accuracy during crawl target object, it is desirable to which wrist 7 is parallel with robot car body 1, then requires θ3=θ1+θ2。
Constantly change θ1、θ2、θ3Size so that the metal finger 11 of arm end is constantly close to target object.
Step 4：By controlling the direction of motion and speed of the emergent robot left and right sides crawler belt of coring, robot is adjusted slightly
Direction so that left and right center position of the target object in picture captured by wrist video camera 8.Control 10 turns of wrist joint of rotation
It is dynamic so that target object is consistent with the folding direction of metal finger 11, it is easy to crawl.Open the small-sized of the lower section of wrist 7 installation
Wrist generating laser 9, laser facula is beaten on target object, changes θ1、θ2、θ3Size, metal finger 11 holds
Continue close to target object, then in picture captured by wrist video camera 8, the hot spot on target object is moved from top to bottom,
When hot spot is in picture above-below direction center position, manipulator stop motion, now target object is in metal finger 11
Between.Control metal finger 11 is closed, and realizes that the emergent robot of the coring for carrying four-degree-of-freedom manipulator is grabbed to target object
Take.
With reference to the accompanying drawings, the present invention is made and more specifically described：
The present embodiment is how a kind of emergent robot of coring for carrying four-degree-of-freedom manipulator is controlled to target object
A kind of new control method that the problem of crawl proposes.
A kind of control method of the emergent robot of the coring for carrying four-degree-of-freedom manipulator is broadly divided into three phases, and robot is leaned on
In the close-target object stage, manipulator is close to target object stage, manipulator crawl target object stage.
(1) robot is close to the target object stage
Taken preceding object object image is passed through into wireless parties positioned at the anterior video camera 16 hit exactly of the emergent robot of coring
Formula is sent to remote control terminal, and the target object for needing to capture is determined in the image of feedback, the side of left and right caterpillar drive is controlled
Make it that the emergent robot of coring produces rotation to speed, until target object is located at right and left in the shooting picture of video camera 16
Upward center position, can now ensure target object in the front position of robot direction of advance.Pass through machine simultaneously
People front portion center install ultrasonic range finder sensor 15 and the robot measurement distance objective object of infrared distance sensor 14 away from
From S.Control coring scouting travels forward with the emergency processing robot equidirectional constant speed of left and right sides crawler belt, when
0.75 × L of S ＜ (1)
L is total length when four-degree-of-freedom manipulator stretches, and robot halts.Whole process is as shown in Figure 2.
When measuring S, because ultrasonic range finder sensor 15 is different with precision with the measurement range of infrared distance sensor 14,
So using following measuring method：
Wherein sIFor the measured value of infrared distance sensor 14, sSFor the measured value of ultrasonic range finder sensor 15, sImaxTo be red
The greatest measurement of outer distance measuring sensor 14.Due to infrared distance sensor 14 when closer to the distance it is more accurate, it is and ultrasonic
Distance measuring sensor 15 is more accurate when distant.So when the measured value of infrared distance sensor 14 reaches that its maximum is surveyed
During value, the measurement result of ultrasonic range finder sensor 15 is just used as final result, otherwise then think infrared distance sensor
14 measurement results reliability is high, and is adopted as final result.
(2) manipulator is close to the target object stage
As shown in figure 3, the angle defined between the postbrachium 3 of four-degree-of-freedom manipulator and the emergent robot top surface of coring is θ1, it is preceding
Angle between arm 5 and postbrachium 3 is θ2, the angle between wrist 7 and forearm 5 is θ3。θ1、θ2、θ3By surveying respectively
Amount is obtained with the co-axially fixed absolute position encoder code-disc of the rotary shaft of shoulder joint 2, elbow joint 4 and vertical wrist joint 6.Subtract
Small θ1, increase θ2And θ3So that four-degree-of-freedom mechanical arm is gradually stretched out, to ensure accuracy during crawl target object,
It is required that wrist 7 is parallel with robot car body direction, then require
θ3=θ1+θ2 (3)
Constantly reduce θ1, increase θ2And θ3So that the metal finger 11 of arm end is constantly close to target object.
(3) the manipulator crawl target object stage
Taken target object image is passed through wireless parties by the wrist video camera 8 hit exactly positioned at four-degree-of-freedom manipulator top
Formula is sent to remote control terminal, in the image of feedback object observing object deviate shooting picture left and right directions center position away from
From adjustment robot produces rotation, the trickle direction for changing robot, until target object shoots picture in video camera slightly
It is located at the center position on left and right directions in face.Open the small-sized wrist laser hair installed the lower section of four-degree-of-freedom mechanical wrist part 7
Emitter 9.The axis of the small-sized wrist generating laser 9 and wrist 7 is angled, when metal finger 11 is rotated to level
Position, the laser beam that small-sized wrist generating laser 9 is emitted just can be by the company at two centers of metal finger 11
Line.After small-sized wrist generating laser 9 is opened, have laser facula and beat on target object, reduce θ1, increase θ2With
θ3, metal finger 11 continue it is close to target object, then in picture captured by wrist video camera 8, the light on target object
Spot is moved from top to bottom, when hot spot is in picture above-below direction center position, manipulator stop motion, now target object
On the line in the center of metal finger 11, i.e., target object is come between metal finger 11, can be captured.
Control metal finger 11 is closed, and realizes emergent crawl of the robot to target object of the coring for carrying four-degree-of-freedom manipulator.This
Each and every one process is as shown in Figure 4.
The example that the emergent robot of coring carries four-degree-of-freedom method for controlling robot is as shown in Figure 5：
A kind of control method of the emergent robot of the coring for carrying four-degree-of-freedom manipulator is broadly divided into three phases, and robot is leaned on
In the close-target object stage, manipulator is close to target object stage, manipulator crawl target object stage.
(1) robot is close to the target object stage
Taken preceding object object image is passed through into wireless parties positioned at the anterior video camera 16 hit exactly of the emergent robot of coring
Formula is sent to remote control terminal, and the target object for needing to capture is determined in the image of feedback, the side of left and right caterpillar drive is controlled
Make it that the emergent robot of coring produces rotation to speed, until target object is located at right and left in the shooting picture of video camera 16
Upward center position, can now ensure target object in the front position of robot direction of advance.Pass through machine simultaneously
People front portion center install ultrasonic range finder sensor 15 and the robot measurement distance objective object of infrared distance sensor 14 away from
From S.The emergent equidirectional constant speed of robot left and right sides crawler belt of control coring travels forward, when
0.75 × L of S ＜ (1)
L=100cm is total length when four-degree-of-freedom manipulator stretches, and robot halts.
When measuring S, because ultrasonic range finder sensor 15 is different with precision with the measurement range of infrared distance sensor 14,
So using following measuring method：
Wherein sIFor the measured value of infrared distance sensor 14, sSFor the measured value of ultrasonic range finder sensor 15, sImax=40cm
For the greatest measurement of infrared distance sensor 14.Due to infrared distance sensor 14 when closer to the distance it is more accurate, and
Ultrasonic range finder sensor 15 is more accurate when distant.So when the measured value of infrared distance sensor 14 reaches it most
During big measured value, the measurement result of ultrasonic range finder sensor 15 is just used as final result, otherwise then thinks that infrared distance measurement is passed
The measurement results reliability of sensor 14 is high, and is adopted as final result.
(2) manipulator is close to the target object stage
The angle defined between the postbrachium 3 of four-degree-of-freedom manipulator and the emergent robot top surface of coring is θ1, forearm 5 and postbrachium 3
Between angle be θ2, the angle between wrist 7 and forearm 5 is θ3。θ1、θ2、θ3By measure respectively with shoulder joint 2,
Elbow joint 4 and the co-axially fixed absolute position encoder code-disc of the rotary shaft of vertical wrist joint 6 are obtained.Reduce θ1, increase θ2And θ3,
So that four-degree-of-freedom mechanical arm is gradually stretched out, to ensure accuracy during crawl target object, it is desirable to wrist 7 and metal hand
Finger 11 is vertical with the facade of target object, then requires
θ3=θ1+θ2 (3)
Constantly reduce θ1, increase θ2And θ3So that the metal finger 11 of arm end is constantly close to target object.
(3) the manipulator crawl target object stage
Taken target object image is passed through wireless parties by the wrist video camera 8 hit exactly positioned at four-degree-of-freedom manipulator top
Formula is sent to remote control terminal, in the image of feedback object observing object deviate shooting picture left and right directions center position away from
From adjustment robot produces rotation, the trickle direction for changing robot, until target object is in wrist video camera 8 slightly
It is located at the center position on left and right directions in shooting picture.Open the small-sized wrist that the lower section of four-degree-of-freedom mechanical wrist part 7 is installed
Generating laser 9.The axis of the small-sized wrist generating laser 9 and wrist 7 is angled, when metal finger 11 rotates
To horizontal level, the laser beam that small-sized wrist generating laser 9 is emitted just can be by two metal fingers 11
The line of the heart.After small-sized wrist generating laser 9 is opened, have laser facula and beat on target object, reduce θ1, increase
Big θ2And θ3, metal finger 11 continue it is close to target object, then in picture captured by wrist video camera 8, object
Hot spot on body is moved from top to bottom, when hot spot is in picture above-below direction center position, manipulator stop motion, now
θ1=45 °, θ2=65 ° and θ3=110 °, now target object is on the line in metal finger centre, i.e., target object has been
Into between metal finger 11, it can be captured.Control metal finger 11 is closed, and is realized and is carried four-degree-of-freedom manipulator
Emergent crawl of the robot to target object of coring.
Claims (3)
- The robot 1. a kind of coring for carrying four-degree-of-freedom manipulator is met an urgent need, it is characterised in that robot car body (1) includes Front wheels and rear wheels, front-wheel is driving wheel, and trailing wheel is supporting roller, and the front and rear wheel of the left and right sides is coated by two crawler belts respectively, The walking mechanism of robot is constituted, it is coaxial with robot front-wheel that crawler type guide arm mechanism is installed, and using front axle in rotation The heart, 360 degree of circumference rotations can be done along robot direct of travel, video camera is provided with the front dead center position of robot, is surpassed Sound ranging sensor and infrared distance sensor；The four-degree-of-freedom mechanical arm that the emergent robot of the coring is carried includes shoulder joint Save (2), postbrachium (3), elbow joint (4), forearm (5), vertical wrist joint (6), wrist (7), rotation wrist joint (10) With metal finger (11), wherein shoulder joint (2) is located at after the center of the emergent robot front axle of coring, manipulator Arm (3) one end is connected with shoulder joint (2), and the other end is connected with elbow joint (4), forearm (5) one end of manipulator with Elbow joint (4) is connected, and the other end is connected with vertical wrist joint (6), and wrist (7) one end is vertical wrist joint (6), separately One end is to be provided with retractable metal finger (11), each joint on rotation wrist joint (10), rotation wrist joint (10) In be provided with direct current generator, shoulder joint (2) can 180 ° of continuous rotations, elbow joint (4), vertical wrist joint (6) and rotation Turn wrist joint (10) can 360 ° of continuous rotations, on mechanical wrist part (7) top, axial location is provided with wrist video camera (8), Lower axis position is provided with small-sized wrist generating laser (9).
- The controlling party of robot 2. a kind of a kind of coring of carrying four-degree-of-freedom manipulator based on described in claim 1 is met an urgent need Method, it is characterised in that follow these steps to carry out：Step 1：Determine to need in the picture that coring is met an urgent need captured by the video camera (16) of the anterior center position installation of robot The target object to be captured, the direction and speed for controlling left and right caterpillar drive make it that the emergent robot of coring produces rotation, until Target object is located at setting position P in video camera (16) shooting picture；Step 2：The emergent equidirectional constant speed of robot left and right sides crawler belt of control coring travels forward, robot front portion center Ultrasonic range finder sensor (15) and infrared distance sensor (14) measurement coring it is emergent between robot and target object away from From S, when S is less than setting value, robot halts；Step 3：Control shoulder joint (2), elbow joint (4) and vertical wrist joint (6) are rotated respectively so that postbrachium (3) Angle between the emergent robot top surface of coring is θ1, the angle between forearm (5) and postbrachium (3) is θ2, wrist (7) Angle between forearm (5) is θ3, to ensure accuracy during crawl target object, it is desirable to θ3=θ1+θ2, constantly change θ1、θ2、θ3Size so that the metal finger (11) of arm end is constantly close to target object；Step 4：By controlling the direction of motion and speed of the emergent robot left and right sides crawler belt of coring, robot is adjusted slightly Direction so that target object picture captured by wrist video camera (8) left and right center position, control rotation wrist joint (1 θ) Rotate so that target object is consistent with the folding direction of metal finger (11), be easy to crawl, open and pacify below wrist (7) The small-sized wrist generating laser (9) of dress, laser facula is beaten on target object, changes θ1、θ2、θ3Size, gold Belong to finger (11) lasting close to target object, then in picture captured by wrist video camera (8), the light on target object Spot is moved from top to bottom, when hot spot, which is in, is located at setting position Q on picture, manipulator stop motion, now target object It is between metal finger (11), control metal finger (11) closure, realizes that the emergent robot of coring carries four selfs The remote operating of target object is captured by degree manipulator.
- The control method of robot 3. a kind of coring for carrying four-degree-of-freedom manipulator according to claim 2 is met an urgent need, its It is characterised by：Setting position P is the center position of left and right directions of the target object in video camera (16) shooting picture, S Setting value be manipulator full extension length 3/4ths, setting position Q be target object in wrist video camera (8) The center position of the above-below direction of captured picture, angle, θ1More than 10 ° and less than 80 °, θ2More than 10 ° and less than 180 °, θ3More than 10 ° and less than 180 °.
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| CN201110012241.4A CN106507966B (en) | 2011-08-19 | 2011-08-19 | Carry the emergent robot of coring and its control method of four-degree-of-freedom mechanical hand |
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| CN201110012241.4A CN106507966B (en) | 2011-08-19 | 2011-08-19 | Carry the emergent robot of coring and its control method of four-degree-of-freedom mechanical hand |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104843156A (en) * | 2015-05-22 | 2015-08-19 | 云南卡索实业有限公司 | Intelligent robot for salvaging underwater physical evidence |
| CN107639621A (en) * | 2017-09-30 | 2018-01-30 | 中广核研究院有限公司 | A kind of remote operating equipment, system and its operational method for nuclear power station place |
| CN112454368A (en) * | 2020-12-22 | 2021-03-09 | 四川轻化工大学 | Mechanical arm control system and method based on laser ranging and deep reinforcement learning |
| CN116766183A (en) * | 2023-06-15 | 2023-09-19 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
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2011
- 2011-08-19 CN CN201110012241.4A patent/CN106507966B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104843156A (en) * | 2015-05-22 | 2015-08-19 | 云南卡索实业有限公司 | Intelligent robot for salvaging underwater physical evidence |
| CN107639621A (en) * | 2017-09-30 | 2018-01-30 | 中广核研究院有限公司 | A kind of remote operating equipment, system and its operational method for nuclear power station place |
| CN112454368A (en) * | 2020-12-22 | 2021-03-09 | 四川轻化工大学 | Mechanical arm control system and method based on laser ranging and deep reinforcement learning |
| CN116766183A (en) * | 2023-06-15 | 2023-09-19 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
| CN116766183B (en) * | 2023-06-15 | 2023-12-26 | 山东中清智能科技股份有限公司 | Mechanical arm control method and device based on visual image |
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