The Research On Double Control Micro Operating Force Of Assist Manipulator Control System

As the development of science and technology,the robot technology is widely applied in industrial production.How to effectively improve the human-machine cooperation and the work efficiency of robot has always been an important problem which the researchers concerned.This paper mainly studied the assist manipulator control system,and focusing on the design of a dual control micro operation assist manipulator control system,the main works as follows:First at all,aiming at the shortcomings in human-machine cooperation of robot,the subject proposed the method of dual-control operation,which could enhance human-computer interaction and operational selectivity of the robot.Dual control operation method was mainly implemented by the operating handle and weight controllers,the operation of handle use an external micro-operations force to provide trend of movement and control motor to handle goods;weight control operation mainly use an external operation force to change the weight of the load and achieve the motor control.The operator can choose two control methods flexibly depending on the location and height of the load handling and the needs of operator.Secondly,the subject used the STM32F103 series chip controller of ARM to design assist manipulator control system.The control system used a modular thinking,which was split into five parts,the power supply module and main controller module and signal acquisition module and motor drive module and a communication module.The main controller was the core which control each module,the control system used two A / D module to acquires signal of two external operating force,and the STM32 master controller processed and analyzed the signal,then the controller sent commands to the drive control module and controlled motor to handle the load.Finally,the control system used the communication module for communication with the host computer,to achieve real-time monitoring.The experiment results show that the dual control micro operating assist manipulator control system can achieve the work of handling the material well,the conveying direction and the movement trend direction of the loads are consistent which the operator provided,the speed of load handling can reach 0.23 m / s.While the dual control operation can enhance the selectivity and flexibility of manipulator at the handling work,which makes the robot to better assist the operator to complete the material handling and reduce labor.