Control system and method for completing knocking task through field tool

• Main Authors: YU ZHANGGUO, WANG CHENZHENG, HUANG YAN, CHEN XUECHAO, DONG YUE, HUANG QIANG, SHI QING
• Format: Patent
• Language: Chinese; English
• Published: 04.12.2020
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a control system and method for completing a knocking task through a field tool, and belongs to the technical field of robot control. According to the control method, under theteleoperation condition, a robot is remotely assisted to find a proper similar tool on site, the expected estimated mass of the tool is determined, the expected estimated mass and the expected impulseare input into a neural network model, and the gravity compensation stage planning speed is obtained; a robot arm completes the knocking action according to a planned motion trail, a gravity compensation stage starting angle and the gravity compensation stage planning speed, and returns after the collision is completed; and the neural network model under the teleoperation condition is obtained bytraining a neural network by operated objects with different masses and corresponding impulses. According to the control method, the robot does not need to carry tools, used field tools do not need to be subjected to a large n