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Control system and method of forcible entry robot, forcible entry robot and medium
The invention provides a control system and method of a forcible entry robot, the forcible entry robot and a storage medium, an expected track generation module is used for determining the expected position of the tail end of a forcible entry head according to the current position of the tail end of the forcible entry head and the position of a to-be-forcible entry target; the inverse kinematics solving module is used for solving a joint angle between the connecting rods by using an inverse kinematics solving method with constraint conditions and obtaining a first length of the hydraulic cylinder; the environment interaction module obtains the second length of the hydraulic cylinder; the feedback control module controls the movement of the piston rod of the hydraulic cylinder based on the difference between the first length and the second length of the hydraulic cylinder. According to the invention, automatic control of the forcible entry robot can be realized, and the forcible entry working efficiency is improved; the inverse solution of the planar multi-degree-of-freedom arm is carried out by using the inverse kinematics solution method with the constraint condition, so that the body structure of the robot can be effectively protected, the safety of the forcible entry work is improved, and the use experience of a user is improved.
本公开提供了一种破拆机器人的控制系统、控制方法、破拆机器人以及存储介质，其中，期望轨迹生成模块用于根据破拆头末端的当前位置以及待破拆目标的位置，确定破拆头末端的期望位置；逆运动学求解模块用于使用具有约束条件的逆运动学求解方法对连杆之间的关节角进行求解，并获得液压缸的第一长度；环境交互模块获得液压缸的第二长度；反馈控制模块基于液压缸的第一长度和第二长度之间的差值，对液压缸的活塞杆的运动进行控制。本公开能够实现对破拆机器人的自动控制，提高了破拆工作效率；通过使用具有约束条件的逆运动学求解方法进行平面多自由度臂的逆解求解，能够有效保护机器人本体结构，提高了破拆工作的安全性，提高了用户的使用感受度。
Control system and method of forcible entry robot, forcible entry robot and medium
The invention provides a control system and method of a forcible entry robot, the forcible entry robot and a storage medium, an expected track generation module is used for determining the expected position of the tail end of a forcible entry head according to the current position of the tail end of the forcible entry head and the position of a to-be-forcible entry target; the inverse kinematics solving module is used for solving a joint angle between the connecting rods by using an inverse kinematics solving method with constraint conditions and obtaining a first length of the hydraulic cylinder; the environment interaction module obtains the second length of the hydraulic cylinder; the feedback control module controls the movement of the piston rod of the hydraulic cylinder based on the difference between the first length and the second length of the hydraulic cylinder. According to the invention, automatic control of the forcible entry robot can be realized, and the forcible entry working efficiency is improved; the inverse solution of the planar multi-degree-of-freedom arm is carried out by using the inverse kinematics solution method with the constraint condition, so that the body structure of the robot can be effectively protected, the safety of the forcible entry work is improved, and the use experience of a user is improved.
本公开提供了一种破拆机器人的控制系统、控制方法、破拆机器人以及存储介质，其中，期望轨迹生成模块用于根据破拆头末端的当前位置以及待破拆目标的位置，确定破拆头末端的期望位置；逆运动学求解模块用于使用具有约束条件的逆运动学求解方法对连杆之间的关节角进行求解，并获得液压缸的第一长度；环境交互模块获得液压缸的第二长度；反馈控制模块基于液压缸的第一长度和第二长度之间的差值，对液压缸的活塞杆的运动进行控制。本公开能够实现对破拆机器人的自动控制，提高了破拆工作效率；通过使用具有约束条件的逆运动学求解方法进行平面多自由度臂的逆解求解，能够有效保护机器人本体结构，提高了破拆工作的安全性，提高了用户的使用感受度。
Control system and method of forcible entry robot, forcible entry robot and medium
破拆机器人的控制系统、方法、破拆机器人以及介质
ZHENG PENGLONG (author) / LIU JIAN (author) / LIANG KANG (author)
2023-12-12
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
/
E21C
Bergbau oder Steinbruchbetrieb
,
MINING OR QUARRYING
/
G05D
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
,
Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen
/
G06F
ELECTRIC DIGITAL DATA PROCESSING
,
Elektrische digitale Datenverarbeitung
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