Man-machine sharing control method and system for mobile mechanical arm

• Main Authors: GUO HAO, YAO ZHENQIU, ZHOU XINGQI
• Format: Patent
• Language: Chinese; English
• Published: 27.06.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a man-machine sharing control method and system for a mobile mechanical arm. The man-machine sharing control system comprises an upper computer teleoperation system and a lower computer control system. The upper computer teleoperation system comprises a main industrial personal computer, a mechanical arm main hand electrically connected with the industrial personal computer and a shared controller. The lower computer control system comprises an embedded industrial personal computer and a mechanical arm slave manipulator; according to the method, the dynamic change of the shared control weight is realized, fuzzy control is added into consideration of an operation environment limitation problem, and complete dependence on an algorithm is reduced through shared control, so that the mechanical arm can still complete a corresponding task under the condition that the operation environment is limited. 本发明公开了一种移动机械臂人机共享控制方法和系统，包括上位机遥操作系统和下位机控制系统；上位机遥操作系统包括主工控机、与工控机电连接的机械臂主手以及共享控制器；下位机控制系统包括嵌入式