CN2747031Y - System for controlling travelling manipulator - Google Patents
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- CN2747031Y CN2747031Y CN 200420093168 CN200420093168U CN2747031Y CN 2747031 Y CN2747031 Y CN 2747031Y CN 200420093168 CN200420093168 CN 200420093168 CN 200420093168 U CN200420093168 U CN 200420093168U CN 2747031 Y CN2747031 Y CN 2747031Y
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- 238000007789 sealing Methods 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
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- 238000012545 processing Methods 0.000 description 5
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Abstract
The utility model discloses a system for controlling a travelling manipulator, which can be used for the parallel and coordinating working for modules such as mobile platforms, manipulators, a visual system, etc. The travelling manipulator system comprises the mobile platforms and the manipulators. The controlling system comprises a main control computer, a displayer, a single chip computer, a servo motor, a servo motor driver, a photoelectric encoder, a stepper motor, a stepper motor driver, a motion control board, a camera, an image grabber, an infrared sensor, an ultrasonic sensor, the power supply, and a PCI bus; according to pre-execution task and the current locations of the mobile platform and the manipulator, main control computer conducts the motion planning for the mobile platform and the manipulator; operators can issue the command for the main control computer by means of the displayer and control the travelling manipulator system for implementing the operating task for the travelling. The utility model can complete the task under the complicated and unknown environment for implementing the coordination control for the mobile platform, the manipulator, and the visual system with the optimal synthesis performance of the system.
Description
Technical field
The utility model relates to a kind of control system of mobile manipulator, is specially adapted to the work that modules such as mobile platform, manipulator and vision system are parallel, coordinate, and can finish the control task of the mobile manipulator of move operation on a large scale.
Background technology
Traditional manipulator and mobile robot have its intrinsic defective, and manipulator is fixed because of base, and has limited its working space.The mobile robot only has locomotive function again, can't the complete operation task.Therefore press for a kind of mechanical system that mobility has operability again that promptly has in engineering, mobile manipulator arises at the historic moment.So-called mobile manipulator is fixed in manipulator on the mobile platform exactly, and manipulator is used for realizing some actions as extracting, operation etc., enlarges the working space of manipulator by moving of platform, and manipulator can be executed the task with attitude more suitably.Mobile manipulator has a wide range of applications, and not only can replace people's operation but also can exhibit one's skill to the full in manufacturing industry and service trade in hazardous environment.At present China focuses mostly on aspect theoretical to the research of mobile manipulator, does not still have the application in putting into practice.
Mobile manipulator generally comprises: mobile platform, manipulator, sensor and control system etc.The mobile platform of working in flat road surface environment such as office adopts wheeled driving, then is comprehensive mobile platform if can realize the motion of whole 3 frees degree on the plane, otherwise is non-comprehensive mobile platform.The structure of manipulator can be very simple, also can adopt the industry mechanical arm of 6DOF to realize the extracting and the operation task of any attitude.Sensor generally includes ultrasonic wave, infrared, vision sensor etc., is used for the perception external environmental information to realize the location, keep away function such as barrier.Control system is made up of computer and control card etc. usually, realizes that the signal of sensor is handled, the coordination control of mobile platform and manipulator.
For mobile manipulator, the dynamic characteristic of platform and manipulator differs bigger, and entire system is also inhomogeneous, has coupling between platform and the manipulator.And mobile manipulator has very big motion redundancy, and promptly the free degree of mobile manipulator (free degree of the free degree+manipulator of mobile platform) is greater than the required least degree of freedom of finishing the work.These problems have brought very big difficulty for the planning and the control of mobile manipulator.Present most controlling system of movable manipulator is often only regarded system as mobile platform and two subsystems of manipulator when planning and control, do not carry out unified planning and control, can not give full play to the performance of mobile manipulator like this.
The utility model content
The purpose of this utility model overcomes above-mentioned defective exactly, take all factors into consideration the characteristics and the mobile manipulator of modules such as mobile platform, manipulator, vision system and finish the mission requirements of move operation on a large scale, design a kind of control system that appointed task can be finished and guarantee the mobile manipulator of overall system performance optimum in complicated circumstances not known, realize the coordination control of mobile platform, manipulator, vision system, and the function of each module parallel processing.
For achieving the above object, technical solution of the present utility model provides a kind of controlling system of movable manipulator, its mobile manipulator of controlling comprises the manipulator of a comprehensive mobile platform and a five degree of freedom, wherein, mobile platform holds body for sealing, its below is provided with a plurality of eccentric universal wheels, a column slide rail is vertically established in its centre, top, column slide rail one side is provided with manipulator, manipulator is made up of shoulder, upper arm, forearm, wrist and hand five parts and the joint that is connected each several part, and the shoulder of manipulator is connected on the slide block of slide rail one side; Described control system comprises main control computer, display, single-chip microcomputer, servomotor, motor servo driver, photoelectric encoder, stepper motor, stepper motor driver, two motion control cards, camera, image pick-up card, infrared sensor, sonac, power-supply system and pci bus; Wherein,
Main control computer is provided with display and pci bus, and two motion control cards (MC1, MC2) and image pick-up card are installed in the PCI slot of main control computer;
Single-chip microcomputer, servomotor, motor servo driver, photoelectric encoder and power-supply system place in the cavity volume of mobile platform, and infrared sensor and sonac are located on the mobile platform periphery disc;
Motion control card MC1 is electrically connected with single-chip microcomputer, motor servo driver input and photoelectric encoder output respectively, single-chip microcomputer is electrically connected with infrared sensor and sonac respectively, servomotor is electrically connected with motor servo driver output and photoelectric encoder input respectively, and servomotor is dynamically connected with the eccentric universal wheel of mobile platform below respectively;
Stepper motor driver places in the mobile platform cavity volume, and its input is electrically connected with motion control card MC2, and output is electrically connected with stepper motor, and stepper motor is located at each joint of manipulator respectively, and is dynamically connected with the joint;
Camera is fixedly arranged on column slide rail top, is electrically connected with image pick-up card.
Described control system, its described main control computer is located in the mobile platform cavity volume, with wired mode and mobile manipulator communication.
Described control system, its described display are fixedly arranged on column slide rail one side on the mobile platform.
Described control system, its described sonac are installed in the periphery disc centre position of mobile platform, and infrared sensor is installed in the periphery disc bottom of mobile platform.
Described control system, its described servomotor and motor servo driver all are a plurality of, each eccentric universal wheel has two groups of servomotors and motor servo driver, the rolling of controlling eccentric universal wheel respectively with turn to.
A kind of method of operating of controlling system of movable manipulator comprises the following steps:
A) at first, mobile platform moves in circumstances not known according to roaming mode or manual mode of operation, carries out the structure of environmental map;
B) according to pending task, and the current location of mobile platform and manipulator, main control computer carries out the path planning of mobile platform and manipulator, makes the path short as far as possible, and smooth as far as possible;
C) path planning good after, by display main control computer is assigned the beginning control command by operating personnel;
D) main control computer is according to the good path of planning, calculate each servomotor and Stepping Motor Control amount, then by motion control card MC1 and motion control card MC2, controlled quentity controlled variable is issued motor servo driver and stepper motor driver, drive servomotor and stepper motor, make mobile platform and manipulator according to the good path motion of planning.
E) finish the work.
Described method of operating, its described b) in the step, when carrying out path planning, have three kinds of patterns to select:
1) if treat Action Target away from mobile platform, then at first plan the motion path of mobile platform, make mobile platform near treating Action Target;
2) enter the operating space of manipulator if treat Action Target, then carried out the motion path planning of manipulator;
3) if can't effectively finish the work by the motion of manipulator separately, then mobile platform and manipulator are done as a whole consideration, cook up that the two is parallel, the path of the coordinated movement of various economic factors.
Described method of operating, its described d) step, in motion process, camera, sonac, infrared sensor and photoelectric encoder are worked in coordination, position in real time with path trace and detect, data that the main control computer basis is returned and information and path planning compare, and adopt advanced control algolithm to guarantee tracking accuracy, real-time correction error, assurance mobile manipulator are finished according to the path of planning and are moved and operation.
Described method of operating, its described d) step in motion process, has unknown barrier to exist if detect in the environment, main control computer will carry out path planning again according to the position of detected barrier, size, the information of whether moving; Whole process is carried out repeatedly, finishes final move operation task up to mobile manipulator.
Described method of operating, its described d) step, in motion process, if deadlock or other abnormal conditions, operating personnel can assign to main control computer by display and cease and desist order.
Described method of operating, its described control system has opening, and the attendant can improve the performance of control system by revising the control program of main control computer, finishes appointed task.
Characteristics of the present utility model and effect have:
1, adopt two motion control card MC1, MC2 to control the motion of mobile platform MR and manipulator MA respectively, make mobile platform MR and manipulator MA can accept control command simultaneously, for their parallel, the coordinated movement of various economic factors provides the hardware assurance from main control computer M.
2, main control computer M is powerful, is responsible for finishing tasks such as environmental map structure, path planning, path trace, adopts high-level programming language to realize that the multithreading task handles, for parallel, the co-ordination of each modular system provides the software assurance.
3, adopt pci bus to connect each control module, data and information sharing when having guaranteed The whole control system work also provide and have made things convenient for approach for adding new control module.
4, the pitching up and down by control camera V and horizontally rotating has enlarged the working range of vision system, help environmental map structure, locate, keep away finishing of task such as barrier.
5, display D provides the interactive interface of operating personnel H and mobile manipulator MA, includes the people in closed-loop control system, is responsible for assigning beginning control command, the duty that monitors mobile manipulator and the processing of abnormal conditions.
6, the data of sonac U, infrared sensor I are at first handled by single-chip microcomputer S, I/O interface by motion control card MC1 sends data to main control computer M then, alleviate the burden of main control computer M, saved special digital I/O card simultaneously.
7, control system has opening, and attendant H can improve the performance of control system by revising the control program of main control computer M, finishes appointed task.
Description of drawings:
Fig. 1 is the control system structural representation;
Fig. 2 is the mobile manipulator schematic perspective view.
The specific embodiment:
The mobile manipulator MM that controlling system of movable manipulator of the present utility model is controlled comprises the manipulator MA of a comprehensive mobile platform MR and a five degree of freedom.Fig. 2 is its three-dimensional pictorial diagram, wherein, mobile platform MR holds body for sealing, and its below is provided with three eccentric universal wheels, can finish in the plane all around and the three-degree-of-freedom motion of rotation, each wheel is driven by a rolling motor and steer motor.A column slide rail is established in centre, mobile platform MR top, and column slide rail one side is provided with manipulator MA, and manipulator MA is made up of shoulder, upper arm, forearm, wrist and hand five parts and the joint that is connected each several part, and the shoulder of manipulator MA is connected on the slide block of slide rail one side.
Control system structure of the present utility model as shown in Figure 1, control system is except that power-supply system PS, also comprise main control computer M, display D, single-chip microcomputer S, servomotor SE, motor servo driver SED, photoelectric encoder C, stepper motor ST, stepper motor driver STD, two motion control card MC1, MC2, camera V, image pick-up card VC, infrared sensor I, sonac U and pci bus.Wherein,
Main control computer M is provided with display D and pci bus, and two motion control cards (MC1, MC2) and image pick-up card VC are installed in the PCI slot of main control computer M;
Single-chip microcomputer S, servomotor SE, motor servo driver SED, photoelectric encoder C and power-supply system PS place in the cavity volume of mobile platform MR, and infrared sensor I and sonac U are located on the mobile platform MR periphery disc;
Motion control card MC1 is electrically connected with single-chip microcomputer S, motor servo driver SED input and photoelectric encoder C output respectively, single-chip microcomputer S is electrically connected with infrared sensor I and sonac U respectively, servomotor SE is electrically connected with motor servo driver SED output and photoelectric encoder C input respectively, and servomotor SE is dynamically connected with the eccentric universal wheel of mobile platform MR below respectively;
Stepper motor driver STD places in the cavity volume of mobile platform MR, and its input is electrically connected with motion control card MC2, and output is electrically connected with stepper motor ST, and stepper motor ST is located at each joint of manipulator MA respectively, and is dynamically connected with the joint;
Camera V is fixedly arranged on column slide rail top, and VC is electrically connected with image pick-up card.
Main control computer M is located in the mobile platform MR cavity volume, with wired mode and mobile manipulator MM communication.
Display D is fixedly arranged on column slide rail one side on the mobile platform MR.
Sonac U is installed in the periphery disc centre position of mobile platform MR, and infrared sensor I is installed in the periphery disc bottom of mobile platform MR.
The concrete function and the connected mode of each several part are described below in conjunction with Fig. 1:
1) main control computer M is the core that guarantees the control system performance, is responsible for data and handles, makes up tasks such as map, path planning, path trace.Simultaneously, by pci bus, the motion of control mobile platform MR, manipulator robot MA, and realize the pitching up and down of camera V and horizontally rotate.
2) display D links to each other with main control computer M, is the interactive interface of operating personnel H and mobile manipulator MM, is responsible for assigning control command, shows the duty of mobile manipulator MM and carries out the abnormal conditions processing.
3) sonac U is installed in the periphery centre position of mobile platform MR, is responsible for the target of medium and long distance and the detection of barrier, and outputs signal to single-chip microcomputer S.
4) infrared sensor I is installed in the periphery downside of mobile platform MR, is responsible for the detection of in-plant target and barrier, and outputs signal to single-chip microcomputer S.
5) single-chip microcomputer S is installed in the inside of mobile platform MR, is responsible for data acquisition and the processing of sonac U, infrared sensor I, and sends the data to motion control card MC1.
6) photoelectric encoder C is coaxial with servomotor SE, is responsible for providing to motor servo driver SED the Position And Velocity of eccentric universal wheel.
7) each eccentric universal wheel has two groups of servomotor SE and motor servo driver SED, the rolling of controlling eccentric universal wheel respectively with turn to.
8) there is a stepper motor ST in each joint of manipulator MA, and each stepper motor ST is connected with a stepper motor driver STD again.
9) motion control card MCI is installed in the PCI slot of main control computer M, and is connected with motor servo driver SED, controls the rolling motor and the steer motor of eccentric universal wheel by motor servo driver SED.Simultaneously, the I/O interface of motion control card MC1 links to each other with the output of single-chip microcomputer S, and main control computer M obtains through the sonac U of single-chip microcomputer S processing and the data of infrared sensor I by the I/O interface of motion control card MC1.Like this, can save special-purpose digital I/O card.
10) motion control card MC2 is installed in the PCI slot of main control computer M, and is connected with stepper motor driver STD, moving and rotating by stepper motor driver STD control manipulator each joint of MA.
11) camera V is installed in the top of mobile manipulator MM, obtains the image information of surrounding environment as vision sensor, and sends image pick-up card VC to.
12) image pick-up card VC is installed in the PCI slot of main control computer M, is responsible for collection of video signal, and the image that camera V is absorbed carries out offering main control computer M after A/D transforms.
13) pci bus is the physical channel that connects motion control card MC1, MC2 and image pick-up card VC and main control computer M, data and information sharing when having guaranteed control system work.Suppose that mobile manipulator MM carries out the move operation task in circumstances not known.
At first, mobile platform MR moves in circumstances not known according to roaming mode or manual mode of operation, and main control computer M is comprehensively from the data of picture signal, sonac U, infrared sensor I and the photoelectric encoder C of image pick-up card VC and single-chip microcomputer S and the structure that information is carried out environmental map.
After obtaining environmental map, according to pending task, and the current location of mobile platform MR and manipulator MA, main control computer M carries out the path planning of mobile platform MR and manipulator MA, makes the path short as far as possible, and smooth as far as possible.One of main feature of the present utility model be control system hardware design for the path planning of realizing mobile platform MR and manipulator MA and tracking walk abreast and coordination provides assurance.Therefore, when carrying out path planning, there are three kinds of patterns to select: if treat Action Target, then at first to plan the motion path of mobile platform MR, make mobile platform near treating Action Target away from mobile platform MR; Enter the operating space of manipulator MA if treat Action Target, then carried out the motion path planning of manipulator MA; If can't effectively finish the work by the motion of manipulator MA separately, then mobile platform MR and manipulator MA are done as a whole consideration, cook up that the two is parallel, the path of the coordinated movement of various economic factors.
After path planning is good, by display D main control computer M is assigned the beginning control command by operating personnel H.Main control computer M is according to the good path of planning, calculate the controlled quentity controlled variable of each servomotor SE and stepper motor ST, then by motion control card MC1 and motion control card MC2, controlled quentity controlled variable is issued motor servo driver SED and stepper motor driver STD, drive servomotor SE and stepper motor ST, make mobile platform MR and manipulator MA according to the good path motion of planning.In motion process, camera V, sonac U, infrared sensor I and photoelectric encoder C work in coordination, position in real time with path trace and detect, data that main control computer M basis is returned and information and path planning compare, adopt advanced control algolithm to guarantee tracking accuracy, correction error guarantees that mobile manipulator MM finishes mobile and operation according to the path of planning in real time.Have unknown barrier to exist in the environment if detect, main control computer M will carry out path planning again according to position, the size of detected barrier, information such as whether move.Whole process is carried out repeatedly, finishes final move operation task up to mobile manipulator MM system.If abnormal conditions such as deadlocks, operating personnel H can assign to main control computer M by display D and cease and desist order.
Claims (5)
1. controlling system of movable manipulator, its mobile manipulator of controlling comprises the manipulator of a comprehensive mobile platform and a five degree of freedom, wherein, mobile platform holds body for sealing, its below is provided with a plurality of eccentric universal wheels, and a column slide rail is vertically established in its centre, top, and column slide rail one side is provided with manipulator, manipulator is made up of shoulder, upper arm, forearm, wrist and hand five parts and the joint that is connected each several part, and the shoulder of manipulator is connected on the slide block of column slide rail one side; It is characterized in that, described control system comprises main control computer, display, single-chip microcomputer, servomotor, motor servo driver, photoelectric encoder, stepper motor, stepper motor driver, two motion control cards, camera, image pick-up card, infrared sensor, sonac, power-supply system and pci bus; Wherein,
Main control computer is provided with display and pci bus, and two motion control cards (MC1, MC2) and image pick-up card are installed in the PCI slot of main control computer;
Single-chip microcomputer, servomotor, motor servo driver, photoelectric encoder and power-supply system place in the cavity volume of mobile platform, and infrared sensor and sonac are located on the mobile platform periphery disc;
Motion control card MC1 is electrically connected with single-chip microcomputer, motor servo driver input and photoelectric encoder output respectively, single-chip microcomputer is electrically connected with infrared sensor and sonac respectively, servomotor is electrically connected with motor servo driver output and photoelectric encoder input respectively, and servomotor is dynamically connected with the eccentric universal wheel of mobile platform below respectively;
Stepper motor driver places in the mobile platform cavity volume, and its input is electrically connected with motion control card MC2, and output is electrically connected with stepper motor, and stepper motor is located at each joint of manipulator respectively, and is dynamically connected with the joint;
Camera is fixedly arranged on column slide rail top, is electrically connected with image pick-up card.
2. control system as claimed in claim 1 is characterized in that, described main control computer is located in the mobile platform cavity volume, is electrically connected with mobile manipulator in wired mode.
3. control system as claimed in claim 1 is characterized in that, described display is fixedly arranged on column slide rail one side on the mobile platform.
4. control system as claimed in claim 1 is characterized in that, described sonac is installed in the periphery disc centre position of mobile platform, and infrared sensor is installed in the periphery disc bottom of mobile platform.
5. control system as claimed in claim 1 is characterized in that, described servomotor and motor servo driver all are a plurality of, and each eccentric universal wheel has two groups of servomotors and motor servo driver.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420093168 CN2747031Y (en) | 2004-09-10 | 2004-09-10 | System for controlling travelling manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200420093168 CN2747031Y (en) | 2004-09-10 | 2004-09-10 | System for controlling travelling manipulator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361792C (en) * | 2004-09-10 | 2008-01-16 | 中国科学院自动化研究所 | Controlling system of movable manipulator |
| CN102074144A (en) * | 2010-12-09 | 2011-05-25 | 大连海事大学 | Ship position motion test platform |
| CN102343729A (en) * | 2011-03-31 | 2012-02-08 | 龙梅 | Shifter for control lifting system of universal spray drawing printer |
| CN102514010A (en) * | 2011-12-31 | 2012-06-27 | 长春大正博凯汽车设备有限公司 | Transporting robot and transporting method thereof |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN101819193B (en) * | 2009-10-23 | 2013-01-23 | 郑州克莱克特科学仪器有限公司 | Multifunctional gas-chromatograph automatic sample injector |
| CN103158156A (en) * | 2011-12-13 | 2013-06-19 | 株式会社安川电机 | Robot system |
| CN104085313A (en) * | 2014-07-18 | 2014-10-08 | 安徽中家智锐科技有限公司 | Eight-freedom-degree mechanical arm system of AGV chassis |
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN104369188A (en) * | 2014-11-20 | 2015-02-25 | 中国计量学院 | Workpiece grabbing device and method based on machine vision and ultrasonic transducer |
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
| CN113180894A (en) * | 2021-04-27 | 2021-07-30 | 浙江大学 | Visual intelligence-based hand-eye coordination method and device for multiple-obstacle person |
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2004
- 2004-09-10 CN CN 200420093168 patent/CN2747031Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361792C (en) * | 2004-09-10 | 2008-01-16 | 中国科学院自动化研究所 | Controlling system of movable manipulator |
| CN101819193B (en) * | 2009-10-23 | 2013-01-23 | 郑州克莱克特科学仪器有限公司 | Multifunctional gas-chromatograph automatic sample injector |
| CN102074144A (en) * | 2010-12-09 | 2011-05-25 | 大连海事大学 | Ship position motion test platform |
| CN102343729A (en) * | 2011-03-31 | 2012-02-08 | 龙梅 | Shifter for control lifting system of universal spray drawing printer |
| CN102343729B (en) * | 2011-03-31 | 2016-01-20 | 合肥海闻自动化设备有限公司 | A kind of omnipotent wide format printer controls the shifter of jacking system |
| CN103158156B (en) * | 2011-12-13 | 2015-03-11 | 株式会社安川电机 | Robot system |
| CN103158156A (en) * | 2011-12-13 | 2013-06-19 | 株式会社安川电机 | Robot system |
| CN102514010A (en) * | 2011-12-31 | 2012-06-27 | 长春大正博凯汽车设备有限公司 | Transporting robot and transporting method thereof |
| CN102581745A (en) * | 2012-02-29 | 2012-07-18 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN102581745B (en) * | 2012-02-29 | 2014-09-10 | 清华大学 | Handling robot system for chemical mechanical polishing |
| CN104097197A (en) * | 2013-04-08 | 2014-10-15 | 上海优爱宝机器人技术有限公司 | Modular robot |
| CN104085313A (en) * | 2014-07-18 | 2014-10-08 | 安徽中家智锐科技有限公司 | Eight-freedom-degree mechanical arm system of AGV chassis |
| CN104369188B (en) * | 2014-11-20 | 2015-11-11 | 中国计量学院 | Based on workpiece gripper device and the method for machine vision and ultrasonic sensor |
| CN104369188A (en) * | 2014-11-20 | 2015-02-25 | 中国计量学院 | Workpiece grabbing device and method based on machine vision and ultrasonic transducer |
| CN105538314A (en) * | 2016-03-11 | 2016-05-04 | 蚌埠学院 | Automatic feeding-discharging glass-mechanical-arm control system |
| CN113180894A (en) * | 2021-04-27 | 2021-07-30 | 浙江大学 | Visual intelligence-based hand-eye coordination method and device for multiple-obstacle person |
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