CN108582119A - A kind of hot line robot force feedback master-slave control method and system - Google Patents
A kind of hot line robot force feedback master-slave control method and system Download PDFInfo
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- CN108582119A CN108582119A CN201810319646.4A CN201810319646A CN108582119A CN 108582119 A CN108582119 A CN 108582119A CN 201810319646 A CN201810319646 A CN 201810319646A CN 108582119 A CN108582119 A CN 108582119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The present invention relates to a kind of hot line robot force feedback master-slave control method and system, mechanical arm tail end is equipped with six degree of freedom power/torque sensor；When main manipulator force-feedback control, the mechanical arm tail end stress data that industrial personal computer is acquired according to six degree of freedom power/torque sensor calculates the torque data in each joint of main manipulator, by the control interface of main manipulator, controls each joint output torque of main manipulator；When mechanical arm Pose Control, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator, by the control interface of mechanical arm, is moved according to the desired value control machinery arm.The present invention can accurately, efficiently and safely complete livewire work.
Description
Technical field
The invention belongs to technical field of electric power, and in particular to a kind of hot line robot force feedback master-slave control method and
System.
Background technology
With the gradual development of hot line robot, the operation of traditional man-computer symbiosis's Insulated Hold formula cannot meet
Control performance under livewire work environment and security requirement.Before this, operating personnel can pass through main manipulator remote control machine
The hot line robot of device people, it is ensured that operating personnel is isolated with high voltage electric field；Remote control operate when, operating personnel according to
Working scene monitoring system monitors operation process, between robotic arm and manipulating object, between mechanical arm, manipulating object and operation
The judgement of relative position between environment is more accurate, and there is no visual dead angle, and performance accuracy higher can prevent collision from sending out
It is raw, improve operational security.But when carrying out pinpoint hot line job using aforementioned hot line robot, example
Isolation switch, fuse switch and arrester both ends conducting wire are such as disconnected, mainly by observing operating environment image (including reality
When image and 3D modeling image) come judge mechanical arm whether operate in place, between mechanical arm and operation object and machinery
The contact forces degree size and unaware of arm and mechanical arm, it is difficult to judge whether performance accuracy meets operation and require.If operation
Personnel or control system can be between sense mechanism arm and operation objects and the contact forces degree of mechanical arm and mechanical arm is big
It is small, then it can more accurately judge whether operations are accurate in place.
Since the main hand of force feedback can be achieved at the same time the position control and force feedback of multiple degree of freedom, the main hand of force feedback is answered
Use the demand of hot line robot master ＆ slave control strongly.
Invention content
It is an object of the invention to propose a kind of hot line robot force feedback master-slave control method and system, Ke Yijing
Really, livewire work is efficiently and safely completed.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of hot line robot force feedback master-slave control method,
Main manipulator, mechanical arm and industrial personal computer form hot line robot force feedback master ＆ slave control system；Mechanical arm tail end is equipped with
Six degree of freedom power/torque sensor；When main manipulator force-feedback control, industrial personal computer is adopted according to six degree of freedom power/torque sensor
The mechanical arm tail end stress data of collection, calculates the torque data in each joint of main manipulator, is connect by the control of main manipulator
Mouthful, control each joint output torque of main manipulator.
Further, in the hot line robot force feedback master-slave control method, main manipulator statics is modeled,
Mechanical arm tail end six degree of freedom power/torque data are obtained to the transformational relation of each joint torque data of main manipulator, industrial personal computer
The torque data in each joint of main manipulator is calculated according to the transformational relation.
Further, in the hot line robot force feedback master-slave control method, when mechanical arm Pose Control, industry control
Machine calculates the desired value of end of arm speed vector, passes through machinery according to the angle-data of each rotary joint of main manipulator
The control interface of arm is moved according to the desired value control machinery arm.
Further, in the hot line robot force feedback master-slave control method, end of arm speed arrow is obtained
Amount desired value method be：Main manipulator is modeled with D-H modeling methods, obtains the angle of each rotary joint of main manipulator
Transformational relation of the degrees of data to main manipulator end pose data；Industrial personal computer receives each rotary joint that main manipulator is sent
Main manipulator end pose data are calculated according to the transformational relation in angle-data, then by main manipulator end pose
Data obtain main manipulator tip speed data by differentiating；According to main manipulator end pose data and tip speed number
According to end of arm speed vector desired value is calculated in operating speed feedforward PID controller.
Further, in the hot line robot force feedback master-slave control method, the main manipulator and mechanical arm
It is one or more degree-of-freedom manipulator structure.
The present invention also proposes a kind of hot line robot force feedback master ＆ slave control system, including main manipulator, mechanical arm
And industrial personal computer；The main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure；The main manipulator energy
The angle-data of each rotary joint is enough acquired, each rotary joint has torque motor, being capable of output torque；The mechanical arm
End is equipped with six degree of freedom power/torque sensor, the six direction generated when being contacted for collection machinery arm and environment by
Force data；When main manipulator force-feedback control, mechanical arm tail end that industrial personal computer is acquired according to six degree of freedom power/torque sensor by
Force data calculates the torque data in each joint of main manipulator, and by the control interface of main manipulator, control main manipulator is each
Joint output torque.
Further, in the hot line robot force feedback master ＆ slave control system, main manipulator statics is modeled,
Mechanical arm tail end six degree of freedom power/torque data are obtained to the transformational relation of each joint torque data of main manipulator, industrial personal computer
The torque data in each joint of main manipulator is calculated according to the transformational relation.
Further, in the hot line robot force feedback master ＆ slave control system, when mechanical arm Pose Control, industry control
Machine calculates the desired value of end of arm speed vector, passes through machinery according to the angle-data of each rotary joint of main manipulator
The control interface of arm is moved according to the desired value control machinery arm.
Further, in the hot line robot force feedback master ＆ slave control system, end of arm speed arrow is obtained
Amount desired value method be：Main manipulator is modeled with D-H modeling methods, obtains the angle of each rotary joint of main manipulator
Transformational relation of the degrees of data to main manipulator end pose data；Industrial personal computer receives each rotary joint that main manipulator is sent
Main manipulator end pose data are calculated according to the transformational relation in angle-data, then by main manipulator end pose
Data obtain main manipulator tip speed data by differentiating；According to main manipulator end pose data and tip speed number
According to end of arm speed vector desired value is calculated in operating speed feedforward PID controller.
Further, in the hot line robot force feedback master ＆ slave control system, the main manipulator and mechanical arm
It is one or more degree-of-freedom manipulator structure.
Compared with prior art, the present invention its remarkable advantage is：Operating personnel pass through the end of manipulation main manipulator, band
The end of electric Work machine arm can follow the posture of main manipulator end, the posture for the main manipulator that operating personnel see to be also
The posture of livewire work mechanical arm, this so that operation is intuitive, flexible.It is single that the introducing of force feedback function, which makes remote operating no longer,
Posture it is given, operating personnel can experience the contact force of livewire work mechanical arm and environment, possess preferably operation telepresenc,
To improve the convenience and accuracy of operating robotic arm；In addition, feeling feedback by power it can be found that mechanical arm and environment touch
It hits, to reduce dangerous generation, makes up the deficiency for only leaning on inspection operation.The present invention improves oneself of robot manipulating task on the whole
Dynamicization and homework precision, while improving operational security.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of embodiment of hot line robot of the present invention；
Fig. 2 is the block diagram of system of aerial lift device with insulated arm in the present invention；
Fig. 3 is the structural schematic diagram of robot platform in the present invention；
Fig. 4 is the structural schematic diagram of mechanical arm in the present invention；
Fig. 5 is the structural schematic diagram of main manipulator in the present invention；
Fig. 6 is the block diagram of force feedback master ＆ slave control system in the present invention；
Fig. 7 is the block diagram of mechanical arm pose closed loop controller in the present invention；
Fig. 8 is that hot line robot band electrical bonding branch of the present invention connects lead operating environment schematic diagram.
Specific implementation mode
It is readily appreciated that, technical solution according to the present invention, in the case where not changing the connotation of the present invention, this field
Those skilled in the art can imagine a variety of realities of hot line robot force feedback master-slave control method of the present invention and system
Apply mode.Therefore, detailed description below and attached drawing are only the exemplary illustrations to technical scheme of the present invention, without should
It is considered as the whole of the present invention or is considered as the limitation or restriction to technical solution of the present invention.
In conjunction with attached drawing, hot line robot includes aerial lift device with insulated arm 1, control room 2, telescopic arm 3, robot platform 4.Its
In, set up control room 2 and telescopic arm 3 on aerial lift device with insulated arm 1,3 end of telescopic arm connects robot platform 4, robot platform 4 with
Using fiber optic Ethernet communication or wireless communication between control room 2.
Aerial lift device with insulated arm 1 drives for operating personnel, to which robot platform 4 is transported operation field.Insulation bucket arm
Support leg is housed, support leg can be unfolded, to which aerial lift device with insulated arm 1 and ground are consolidated support on vehicle 1.On aerial lift device with insulated arm 1
Equipped with generator, to power to control room 2 and telescopic arm 3.
Telescopic arm 3 is equipped with the driving device along telescopic direction, and operating personnel can be by controlling the driving device, thus by machine
Device people platform 4 is elevated to operation height.The telescopic arm 3 is made of insulating materials, for realizing robot platform 4 and control room 2
Insulation.In the present invention, telescopic arm 3 can have by scissor-type lifting mechanism or the replacement of other mechanisms.
It is provided with main manipulator in control room 2, mechanical arm is provided on robot platform 4.It is main under the control of industrial personal computer
Operation realizes master ＆ slave control operation with mechanical arm.Industrial personal computer can be divided into the first industrial personal computer and the second industrial personal computer.
As an implementation, the second industrial personal computer, display screen, the first main manipulator, the second master are provided in control room 2
Manipulator, auxiliary main manipulator and communication module etc..
As an implementation, robot platform 4 include insulator 46, it is first mechanical arm 43, second mechanical arm 44, auxiliary
Help mechanical arm 42, the first industrial personal computer 48, binocular camera 45, full-view camera 41, depth camera 410, accumulator 49, special
Tool box 47, communication module etc..
The insulator 46 of robot platform 4 is used to support first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42,
The shell of these three mechanical arms and robot platform 4 are insulated.
Accumulator 49 is the first industrial personal computer 48, first mechanical arm 43, second mechanical arm 44, auxiliary mechanical arm 42, panorama are taken the photograph
As head 41, binocular camera 45, depth camera 410, communication module power supply.
Tool box special 47 is the place for placing the power tools such as gripping apparatus, spanner.Mechanical arm tail end is equipped with tool quick change
Device.Mechanical arm uses tool fast replacing device to obtain power tool according in the type to tool box special 47 of job task.
First main manipulator, the second main manipulator and auxiliary main manipulator are a kind of for artificial long-range in control room 2
The operating device of operating robotic arm, they constitute principal and subordinate behaviour with first mechanical arm 43, second mechanical arm 44 and auxiliary mechanical arm 42
Make relationship.Mechanical arm and main manipulator have same or similar structure, and only main manipulator dimensions is smaller than mechanical arm,
In order to which operating personnel operate.
As one embodiment of the invention, the mechanical arm is mechanism in six degree of freedom, including pedestal 431, rotary axis direction
The waist joint 432 vertical with base plane, the shoulder joint 433 being connect with waist joint 432, the large arm being connect with shoulder joint 433
434, the elbow joint 435 being connect with large arm 434, the forearm 436 being connect with elbow joint 435, the wrist joint being connect with forearm 436
437, wrist joint 437 is made of three rotary joints, respectively wrist pitching joint, wrist swinging joint and wrist rotary joint；It is described
Each joint all has corresponding orthogonal rotary encoder 31 and servo drive motor, orthogonal rotary coding in mechanism in six degree of freedom
Device 31 is used to acquire the angle-data in each joint, and servo drive motor is used to control the movement in each joint；First industrial personal computer root
The movement angle in each joint is calculated according to the space path of the mechanical arm, control servo drive motor is according to the movement angle
Each joint motions of control machinery arm.
As an implementation, the data transmission between robot platform 4 and control room 2 is by optical fiber wire transmission,
Or use wireless network transmissions.Communication module on robot platform 4 is fiber optical transceiver, and fiber optical transceiver is for realizing light
The mutual conversion of the electric signal in optical signal and twisted-pair feeder in fibre, to realize robot platform 4 and control room 2 in communication
Electrical isolation.Communication module in control room 2 is fiber optical transceiver, fiber optical transceiver for realizing in optical fiber optical signal with
The mutual conversion of electric signal in twisted-pair feeder, to realize the electrical isolation of robot platform 4 and control room 2 in communication.
In above-mentioned band point Work robot, main manipulator, mechanical arm and industrial personal computer composition hot line robot power are anti-
Present master ＆ slave control system.
The main manipulator is the mechanical arm configuration of one or more degree of freedom series connection, can acquire each rotary joint
Angle-data, each rotary joint have torque motor, can output torque, to realize force feedback function.As a kind of reality
Mode is applied, as shown in figure 5, the mechanical arm configuration of six degree of freedom series connection may be used, the angle number of six rotary joints can be acquired
According to, each rotary joint has torque motor, can output torque, to realize force feedback function.
The mechanical arm communicates or similar with main manipulator, is one or more degree-of-freedom manipulator structure, can
Mechanical arm tail end pose data are sent in real time, mechanical arm tail end is equipped with six degree of freedom power/torque sensor, six degree of freedom power/
The stress data for the six direction that torque sensor generates when being contacted with environment for collection machinery arm, the scalar of stress data are
Six degree of freedom power/torque data.As an implementation, as shown in figure 4, sixdegree-of-freedom simulation may be used, mechanical arm
Six degree of freedom power/torque sensor is installed in end, and six free forces/torque sensor contacts generation with environment for collection machinery arm
Stress data.
Industrial personal computer receives the angle-data for six rotary joints that main manipulator is sent, according to force feedback master ＆ slave control side
Method calculates the desired value of end of arm speed vector, passes through the control interface of mechanical arm, the movement of control machinery arm；It is described
Industrial personal computer receives six degree of freedom power/torque data that mechanical arm is sent and calculates main operation according to force feedback master-slave control method
The torque data in six joints of hand controls main manipulator output torque by the control interface of main manipulator.
Force feedback master ＆ slave control of the present invention includes two aspects, when mechanical arm posture control method, i.e., according to master
The angle-data of each rotary joint of manipulator calculates the desired value of end of arm speed vector as controlled quentity controlled variable, passes through machine
The control interface of tool arm, the movement of control machinery arm；Second is that main manipulator force-feedback control method, i.e., certainly according to the six of the transmission of tool arm
By degree power/torque data, the torque data in each joint of main manipulator is calculated, passes through the control interface of main manipulator, control
Main manipulator output torque.
Below by taking six degree of freedom main manipulator and mechanical arm as an example, illustrate force feedback master ＆ slave control process.
Mechanical arm posture control method, i.e., the angle-data of six rotary joints sent according to main manipulator are counted in real time
The controlled quentity controlled variable of mechanical arm tail end position and posture is calculated, the controlled quentity controlled variable is end of arm speed vector.Specifically, mechanical arm
Posture control method is divided into following steps：
Step 1, main manipulator Kinematic Model models main manipulator with D-H modeling methods, obtains main manipulator
Transformational relation of the angle-data of six rotary joints to main manipulator end pose data.
Step 2, the transformational relation obtained according to step 1, industrial personal computer receive six rotary joints that main manipulator is sent
Main manipulator end pose data are calculated in angle-data, and main manipulator end pose data are obtained by differentiating
Main manipulator tip speed data.
Step 3, mechanical arm pose closed loop controller is designed, using velocity feed forward PID controller.The master that step 2 is obtained
Mechanical arm controlled quentity controlled variable is calculated according to velocity feed forward PID controller in manipulator end pose data and tip speed data,
That is end of arm speed vector is sent to the control interface of mechanical arm, control machine by end of arm speed vector, industrial personal computer
Tool arm moves.
Main manipulator force-feedback control method, i.e., the six degree of freedom power/torque data sent according to mechanical arm calculate in real time
Go out the torque data in six joints of main manipulator.Specifically, main manipulator force-feedback control method is divided into following steps：
Step 1, main manipulator statics models, and is modeled to main manipulator statics with the principle of virtual work, obtains mechanical arm
The transformational relation of end six degree of freedom power/torque data to six joint torque datas of main manipulator.
Step 2, the transformational relation obtained according to step 1, industrial personal computer are received by six degree of freedom power/torque sensor acquisition
The stress data that mechanical arm generates when being contacted with environment, is calculated the torque data in six joints of main manipulator, and industrial personal computer will
Torque data is sent to the force-feedback control interface of main manipulator, and main manipulator is made to feed back stress.
Embodiment
By taking branch connects and fixes c-type wire clamp 1111 in gage lap operation as an example, 43 end of first mechanical arm is equipped with clamping device,
It needs that c-type wire clamp 1111 is clamped, c-type wire clamp 1111 is fixed on conducting wire 111.
During operating personnel operate the first main manipulator, six rotary joints 501 of the first main manipulator transmission,
502,503,504,505,506 angle-data gives the second industrial personal computer, the second industrial personal computer to be revolved according to six of the first main manipulator
Turn the angle-data in joint to the transformational relation of main manipulator end pose data, the first main manipulator end pose is calculated
Data, and the first main manipulator end pose data are obtained into the first main manipulator tip speed data by differentiating.
Second industrial personal computer is used according to the first main manipulator end pose data and the first main manipulator tip speed data
The controlled quentity controlled variable of first mechanical arm 43, i.e. 43 tip speed vector of first mechanical arm is calculated in velocity feed forward PID controller, the
The controlled quentity controlled variable is sent to the first industrial personal computer by two industrial personal computers, and the first industrial personal computer controls first mechanical arm 43 by control interface and transports
It is dynamic.
When the clamping c-type of first mechanical arm 43 wire clamp 1111, which is moved to, to be contacted with conducting wire 111,43 end of first mechanical arm
Six degree of freedom power/torque sensor of 438 installations acquires the contact force between c-type wire clamp 1111 and conducting wire 111, by six degree of freedom
Power/torque data are sent to the second industrial personal computer.
Second industrial personal computer is according to six degree of freedom power/torque data to the conversion of first six joint torque datas of main manipulator
The torque data in first six joints of main manipulator, the second industrial personal computer are calculated according to six degree of freedom power/torque data for relationship
Torque data is sent to the force-feedback control interface of the first main manipulator, the first main manipulator of force-feedback control Interface Controller is every
The torque motor of a rotary joint works, output torque, from making the first main manipulator feed back stress, realizes force feedback function.
The stress that operating personnel feed back according to the first main manipulator adjusts first main behaviour's hand end pose, first main behaviour's hand
Further according to mechanical arm posture control method, adjustment mechanical arm tail end pose makes so as to adjust the position of c-type wire clamp 1111
C-type wire clamp 1111 is obtained more to fasten with the contact of conducting wire 111.
Claims (10)
1. a kind of hot line robot force feedback master-slave control method, which is characterized in that main manipulator, mechanical arm and industrial personal computer
Form hot line robot force feedback master ＆ slave control system；Mechanical arm tail end is equipped with six degree of freedom power/torque sensor；
When main manipulator force-feedback control, mechanical arm tail end stress that industrial personal computer is acquired according to six degree of freedom power/torque sensor
Data calculate the torque data in each joint of main manipulator, and by the control interface of main manipulator, control main manipulator respectively closes
Save output torque.
2. hot line robot force feedback master-slave control method as described in claim 1, which is characterized in that quiet to main manipulator
Mechanical modeling obtains mechanical arm tail end six degree of freedom power/torque data and is closed to the conversion of each joint torque data of main manipulator
System, industrial personal computer calculate the torque data in each joint of main manipulator according to the transformational relation.
3. hot line robot force feedback master-slave control method as described in claim 1, which is characterized in that mechanical arm pose control
When processed, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator,
By the control interface of mechanical arm, moved according to the desired value control machinery arm.
4. hot line robot force feedback master-slave control method as claimed in claim 3, which is characterized in that obtain mechanical arm end
End velocity vector desired value method be：
Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour
Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root
Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential
Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed
Feedover PID controller, and end of arm speed vector desired value is calculated.
5. any one hot line robot force feedback master-slave control method as described in Claims 1-4, feature exist
In the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
6. a kind of hot line robot force feedback master ＆ slave control system, which is characterized in that including main manipulator, mechanical arm and work
Control machine；
The main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure；The main manipulator can acquire
The angle-data of each rotary joint, each rotary joint have torque motor, being capable of output torque；The mechanical arm tail end peace
Equipped with six degree of freedom power/torque sensor, the stress data of the six direction generated when being contacted for collection machinery arm and environment；
When main manipulator force-feedback control, mechanical arm tail end stress that industrial personal computer is acquired according to six degree of freedom power/torque sensor
Data calculate the torque data in each joint of main manipulator, and by the control interface of main manipulator, control main manipulator respectively closes
Save output torque.
7. hot line robot force feedback master ＆ slave control system as claimed in claim 6, which is characterized in that quiet to main manipulator
Mechanical modeling obtains mechanical arm tail end six degree of freedom power/torque data and is closed to the conversion of each joint torque data of main manipulator
System, industrial personal computer calculate the torque data in each joint of main manipulator according to the transformational relation.
8. hot line robot force feedback master ＆ slave control system as claimed in claim 6, which is characterized in that mechanical arm pose control
When processed, industrial personal computer calculates the desired value of end of arm speed vector according to the angle-data of each rotary joint of main manipulator,
By the control interface of mechanical arm, moved according to the desired value control machinery arm.
9. hot line robot force feedback master ＆ slave control system as claimed in claim 8, which is characterized in that obtain mechanical arm end
End velocity vector desired value method be：
Main manipulator is modeled with D-H modeling methods, obtains the angle-data of each rotary joint of main manipulator to main behaviour
Make the transformational relation of hand end pose data；Industrial personal computer receives the angle-data for each rotary joint that main manipulator is sent, root
Main manipulator end pose data are calculated according to the transformational relation, main manipulator end pose data are then passed through into differential
Operation obtains main manipulator tip speed data；According to main manipulator end pose data and tip speed data, operating speed
Feedover PID controller, and end of arm speed vector desired value is calculated.
10. any one hot line robot force feedback master ＆ slave control system as described in claim 6 to 9, feature exist
In the main manipulator and mechanical arm are one or more degree-of-freedom manipulator structure.
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| CN110842951A (en) * | 2019-11-18 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | Control system and method based on defect repairing robot on overhead conductor |
| 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 |
| CN113749784A (en) * | 2021-10-11 | 2021-12-07 | 中南大学 | Force feedback transmission system of surgical robot |
| CN114102599A (en) * | 2021-12-02 | 2022-03-01 | 中国科学技术大学 | Flexible mechanical arm-based human-computer interaction adaptive control method and system |
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| 马孝林: "高压带电作业机器人作业机械臂的设计及优化", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
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| CN110682291A (en) * | 2019-10-16 | 2020-01-14 | 国网江苏省电力有限公司扬州供电分公司 | Robot teleoperation system based on VR and teleoperation method thereof |
| CN110842951A (en) * | 2019-11-18 | 2020-02-28 | 云南电网有限责任公司电力科学研究院 | Control system and method based on defect repairing robot on overhead conductor |
| 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 |
| CN113749784A (en) * | 2021-10-11 | 2021-12-07 | 中南大学 | Force feedback transmission system of surgical robot |
| CN114102599A (en) * | 2021-12-02 | 2022-03-01 | 中国科学技术大学 | Flexible mechanical arm-based human-computer interaction adaptive control method and system |
| CN114102599B (en) * | 2021-12-02 | 2023-10-20 | 中国科学技术大学 | Man-machine interaction self-adaptive control method and system based on flexible mechanical arm |
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