基于姿态库的危险品检测机械臂远程控制

Remote Control of Dangerous Goods Detection Robot Based on Posture Library

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。

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.