[1]郑育祥,许 旻,董二宝,等.基于姿态库的危险品检测机械臂远程控制[J].机械与电子,2021,(10):72-76.
　ZHENG Yuxiang,XU Min,DONG Erbao,et al.Remote Control of Dangerous Goods Detection Robot Based on Posture Library[J].Machinery & Electronics,2021,(10):72-76.
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基于姿态库的危险品检测机械臂远程控制()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2021年10期
页码:
72-76
栏目:
智能工程
出版日期:
2021-10-24

文章信息/Info

Title:
Remote Control of Dangerous Goods Detection Robot Based on Posture Library
文章编号:
１００１-２２５７ ( ２０２１ ) １０-００７２-０５
作者:
郑育祥; 许 旻; 董二宝; 李阳鸿
中国科学技术大学工程科学学院精密机械与精密仪器系,安徽 合肥 ２３００２７
Author(s):
ZHENG Yuxiang ;  XU Min ;  DONG Erbao ; LI Yanghong
( Department of Precision Mechanics and Instrument ,School of Engineering Science , University of Science and Technology of China , Hefei ２３００２７ , China )
关键词:
远程控制; 机械臂; 姿态库
Keywords:
remote control ;  robotic arm ;  posture library
分类号:
TP２４
文献标志码:
A
摘要:
考虑危险品采样的特殊性以及远程遥控多自由度机械臂灵活性不高的问题,提出了一种基于姿态库的机械臂远程控制方法.首先,分析了机械臂运动学,在控制器中搭建了机械臂正解模型和逆解模型的应用层;然后,通过示教多个常用于采样危险品的姿态,在控制器里搭建了姿态库控制的应用层;最后,通过无线通信实验和有无姿态库对比实验,验证了基于姿态库的机械臂远程控制方法的有效性和实用性.
Abstract:
Considering the particularity of dangerous goods sampling and the low flexibility of remote-controlled multi-degree-of-freedom manipulators , a remote control method of manipulators based on posture library is proposed．First , the kinematics of the robotic arm is analyzed , and the application layer of the forward solution model and the inverse solution model of the robotic arm are built in the controller ;through teaching a number of postures commonly used for sampling dangerous goods , the posture library control is built in the controller． Finally , through wireless communication experiments and comparison experiments with or without a posture library , the effectiveness and practicability of the robotic arm remote control method based on the posture library is verified．

参考文献/References:

[ １ ] GOERTZ R C , THOMPSON W M．Electronically controlled manipulator [ J ] ．Nucleonics , １９５４ , １２ ( １１ ): ４６-４７．

[ ２ ] PAN C K , LIU X , JIANG W．Design and synchronization control of heterogeneous robotic teleoperation system [ C ]// ２０１７ Chinese Automation Congress ( CAC ), ２０１７ : ４０６-４１０．
[３] KIM Y B , CHOIGS．A study on teleoperation of a mobile robot using haptic feedback [ J ] ．Advanced engineering forum , ２０１１ , ２ / ３ : ４０８-４１３．
[４] WU X , YANG C J , ZHU Y C , et al．An integrated vision-based system for efficient robot arm teleoperation [ J ] ． Industrial robot , ２０２１ , ４８ ( １２ ): １９９-２１０．
[５] 张作青 ． 大型反恐排爆机器人远程控制系统设计[ D ] ．上海:上海交通大学,２０１４．
[６] ROSS B , LAROSE D , WILDE H , et al．High performance teleoperation for industrial work robots [ C ]//２０１０ １st International Conference on Applied Robotics for the Power Industry , ２０１０ : １-５．
[７] 姜宏超,刘士荣,张波涛 ． 六自由度模块化机械臂的逆运动学分析[ J ] ． 浙江大学学报(工学版),２０１０ , ４４( ７ ): １３４８-１３５４．

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备注/Memo

备注/Memo:
收稿日期: ２０２１-０７-０９
基金项目:国家重点研发计划项目( ２０１８YFC０８１０１０３ )
作者简介:郑育祥 ( １９９６－ ),男,福建漳州人,硕士研究生,研究方向为机器人控制系统;许 旻 ( １９７２－ ),男,福建晋江人,硕士,讲师,研究方向为机器人机构学与仿生机器人,通信作者;董二宝 ( １９８２－ ),男,内蒙古呼和浩特人,博士,副教授,研究方向为机器人技术;李阳鸿 ( １９９８－ ),男,云南德宏人,硕士研究生,研究方向为机器人机构学.
更新日期/Last Update: 2021-11-11