CN118418162A - Dual-mode control system and method for flexible driving device at tail end of robot - Google Patents
Dual-mode control system and method for flexible driving device at tail end of robot Download PDFInfo
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- CN118418162A CN118418162A CN202410863789.7A CN202410863789A CN118418162A CN 118418162 A CN118418162 A CN 118418162A CN 202410863789 A CN202410863789 A CN 202410863789A CN 118418162 A CN118418162 A CN 118418162A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 48
- 238000010008 shearing Methods 0.000 claims description 41
- 239000012530 fluid Substances 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000009977 dual effect Effects 0.000 claims description 9
- 230000005284 excitation Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
- Manipulator (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a dual-mode control system and a method for a flexible driving device at the tail end of a robot. The method comprises the steps that commands such as parameter setting and the like are issued to an upper computer through a human-computer interface, the upper computer sends data instructions to a master controller, the master controller sends the data instructions to a driver module after receiving the commands, current is fed to a clutch mode exciting coil or a brake mode exciting coil of the driver, current signal detection is carried out through a current detection module, and the current is fed back to the master controller, so that real-time updating detection feedback of the current is realized, and a control method for real-time control is achieved. The master controller is responsible for overall control of the brake mode controller module, the clutch mode controller module, and the joint motor control module. The driver module adjusts the current of the exciting coils with different modes after receiving the instruction sent by the controller module. The current detection module is responsible for detecting the current of the coils in different modes and feeding the current back to the overall controller.
Description
Technical Field
The invention relates to the field of control of a variable stiffness driver of a robot, in particular to a dual-mode control system and method for a flexible driving device at the tail end of the robot.
Background
The joint driver is used as a key component of the robot and is important for the overall movement of the robot. The design and the selection of the joint driver directly determine the working efficiency of the robot. In order to realize accurate control of joint movement, the traditional robot mostly adopts a rigid joint driver with high precision, quick response and strong load, and meanwhile, the flexible control of joints is abandoned while the precision is pursued. Security problems are likely to occur in human-machine collaboration or in the middle. The flexible design and control of the joint driver is also one of the important issues to be addressed in the current robotics field.
At present, some controllable joint drivers based on magneto-rheological are disclosed in the prior art, for example, see patent CN114800455A, CN101293351A, CN109227595A and the like, but the existing joint drivers basically only realize a single clutch or brake function, for realizing two functions in one driver, one clutch or brake needs to be externally connected, the transmission chain is increased, the efficiency is low, the cost is increased, the control is inconvenient to realize, the real-time adjustment of the moment is not realized, the reliability is poor, and the accuracy of a control system of the joint is lower.
Disclosure of Invention
In order to solve the problems of the existing robot joint driving device and realize flexible control of variable rigidity, the invention provides a dual-mode control system and method of a robot tail end flexible driving device.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
In a first aspect, the present invention provides a dual mode control system for a robot end flexible drive device, comprising a controller module, a driver module and a drive mechanism, and a current detection module portion;
The driving mechanism comprises a joint motor and a driver; the driver comprises an inner revolving body and an outer revolving body; the inner revolving body is connected with the joint motor, and a clutch mode exciting coil is arranged in the inner revolving body; the inner revolving body is rotationally connected with the outer revolving body through an inner bearing, and the outer revolving body is connected with the shell of the outermost ring through an outer bearing; a brake disc is arranged in a space formed by the outer revolving body, the outer bearing and the shell, and the inner ring of the brake disc is provided with a plurality of shearing discs IV which are formed together with the brake disc;
The inner ring of the outer revolving body is provided with a plurality of rings of second shearing discs, the middle position of the outer ring of the inner revolving body is provided with a plurality of rings of first shearing discs, the second shearing discs and the first shearing discs are inserted together, a gap formed by the two shearing discs is filled with magnetorheological fluid, and the magnetorheological fluid is controlled by a clutch mode exciting coil; a third shearing disc with multiple circles is arranged on the outer ring of the outer revolving body, the third shearing disc and the fourth shearing disc are inserted together, and a gap formed by the third shearing disc and the fourth shearing disc is filled with magnetorheological fluid; the magnetorheological fluid is controlled by a braking mode exciting coil;
The driver module is respectively connected with the braking mode exciting coil and the clutch mode exciting coil, and the braking mode exciting coil and the clutch mode exciting coil are respectively connected with the current detection module; the control module controls the driver module and the joint motor.
As a further technical scheme, the controller module is composed of a brake mode controller module, a clutch mode controller module and a joint motor control module which are controlled by the upper computer, the master controller and the master controller.
As a further technical scheme, the driver module comprises a braking mode driver module and a clutch mode driver module.
As a further technical scheme, the braking mode controller module controls the braking mode driver module, and the clutch mode controller module controls the clutch mode driver module; the joint motor control module controls the joint motor.
As a further technical scheme, the braking mode driver module drives a braking mode exciting coil; the clutch mode driver module drives the clutch mode exciting coil.
As a further technical scheme, the current detection module mainly comprises a braking mode current detection module and a clutch mode current detection module, wherein the braking mode current detection module detects the current of the exciting coil of the braking mode in real time through a current sensor; the clutch mode current detection module detects the current of the exciting coil in the clutch mode in real time through a current sensor.
In a second aspect, the present invention provides a dual-mode control method for a flexible driving device of a robot end, based on the dual-mode control system for the flexible driving device of the robot end, which comprises the following steps:
When the flexible torque at the tail end of the robot drives the control mode to output, the upper computer sends a clutch mode control instruction to the clutch mode controller module through the master controller, the clutch mode controller module converts the control instruction into current output of the clutch mode driver module, drives the clutch mode exciting coil to generate a magnetic field, controls magnetorheological fluid viscosity between the first shearing disc at the outer side of the internal rotator and the second shearing disc at the inner side of the external rotator, and drives flexible torque output of the external rotator through the external internal rotator of the joint motor, and the clutch module current detection module feeds current signals of the clutch mode exciting coil back to the master controller to realize state detection of the torque output mode;
when the flexible gesture at the tail end of the robot keeps driving the control mode to output, the upper computer transmits a clutch mode control instruction to the braking mode controller module through the master controller, the braking mode controller module converts the control instruction into current output of the braking mode driver module, the viscosity of magnetorheological fluid filled in the outer sides of the brake disc and the outer rotating body is controlled through the brake coil, braking of the outer rotating body is achieved, and the current detection module of the brake module feeds current signals of the brake coil back to the master controller, so that braking state detection of the outer rotating body is achieved;
further, in the attitude keeping driving control mode, after receiving an instruction of the master controller, the braking mode controller module issues the instruction to the driver braking mode part, current is fed into the driver braking mode exciting coil, current signal detection is carried out through the braking mode current detection module, and the current is fed back to the master controller, so that real-time updating of the current is realized.
Further, in the flexible torque driving control mode, after receiving the instruction of the master controller, the clutch mode controller module issues the instruction to the clutch mode part of the driver, current is fed into the clutch mode exciting coil of the driver, current signal detection is carried out through the clutch mode current detection module, and the current is fed back to the master controller, so that real-time update of the current is realized.
Further, when the clutch exciting coil and the brake exciting coil are simultaneously electrified, the inner rotator and the outer rotator are in a locking state, and the static position of the joint motor can be maintained.
The beneficial effects of the invention are as follows:
The control system provided by the invention adjusts the on-off state of the exciting coil through the controller module and the driver module, and realizes the switching of the flexible torque driving control mode and the gesture maintaining driving control mode. The clutch mode exciting coil is electrified, the brake mode exciting coil is deenergized, and the clutch mode exciting coil is a flexible torque driving control mode of the driver; the clutch mode exciting coil is powered off, the brake mode exciting coil is powered on, a driving control mode is kept for the posture of the driver at the moment, a transmission chain is shortened, the working efficiency is improved, and the current detection module can realize real-time adjustment of moment and has good reliability.
Drawings
FIG. 1 is a schematic diagram of a dual mode control system for a robot tip flexible drive;
FIG. 2 is a schematic diagram of a drive;
In the figure: 1-braking mode exciting coil, 2-driver output end, 3-clutch mode exciting coil, 4-brake disc, 5-external swivel, 6-internal swivel, 7-screw, 8-internal bearing, 9-external bearing, 10-shear disc I, 11-shear disc II, 12-shear disc III, 13-shear disc IV;
100-controller module, 101-upper computer, 102-general controller, 103-braking mode controller module, 104-clutch mode controller module, 105-joint motor control module, 200-driver module, 201-braking mode driver module, 202-clutch mode driver module,
300-Driving mechanism, 301-joint motor, 302-driver, 400-current detection module, 401-braking mode current detection module, 402-clutch mode current detection module.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms also are intended to include the plural forms unless the present invention clearly dictates otherwise, and furthermore, it should be understood that when the terms "comprise" and/or "include" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
The invention will be further described with reference to the drawings and examples.
As shown in fig. 1 and 2, the present embodiment discloses a dual-mode control system of a flexible driving device at the tail end of a robot, which comprises a control module 100, a driver module 200, a driving mechanism 300 and a current detection module 400;
The driving mechanism 300 of the present embodiment is shown in fig. 2, and includes an articulation motor 301 and a driver 302; driver 302 includes brake mode field coil 1, output 2, clutch mode field coil 3, brake disk 4, outer rotator 5, inner rotator 6, screw 7, inner bearing 8, outer bearing 9, first shear disk 10, second shear disk 11, third shear disk 12, fourth shear disk 13;
The inner revolving body 6 receives the external joint motor 301, and a clutch mode exciting coil 3 is arranged in the inner revolving body 21; the inner revolving body 21 is rotationally connected with the outer revolving body 8 through an inner bearing 8, and the outer revolving body 8 is connected with the shell of the outermost ring through an outer bearing 9; a brake disc 4 is arranged in a space formed by the outer revolving body 8, the outer bearing and the shell, and the inner ring of the brake disc 4 is provided with a plurality of circles of shearing discs four 13 which are formed together with the brake disc;
A multi-turn shear disc II 11 is arranged on the inner ring of the outer revolving body 5, a multi-turn shear disc I10 is arranged in the middle of the outer ring of the inner revolving body 6, the shear disc II 11 and the shear disc I10 are inserted together, a gap formed by the two is filled with magnetorheological fluid, and the magnetorheological fluid is controlled by a clutch mode exciting coil 3;
The outer ring of the outer revolving body 5 is provided with a plurality of circles of shearing discs III 12, the shearing discs III 12 and the shearing discs IV 13 are inserted together, and a gap formed by the shearing discs III and the shearing discs IV is filled with magnetorheological fluid; the magnetorheological fluid is controlled by a braking mode exciting coil 1;
The output end 2 is connected to the outer revolving body 5.
Further, the above-mentioned internal rotator 6 is connected to the output shaft of the joint motor 301 through a screw 7, so as to realize torque input of the joint motor 301 to the driver.
Further, a subsequent mechanism for realizing flexible control, such as a mechanical arm applicable to medical rehabilitation, is connected to the output end 2 of the driver.
As shown in fig. 1, the controller module 100 in the present embodiment is mainly controlled by the host computer 101, the overall controller 102, and three sub-controller modules controlled by the overall controller 102, where the three sub-controller modules are a brake mode controller module 103, a clutch mode controller module 104, and a joint motor control module 105. After receiving the data command issued by the host computer 101, the overall controller 102 separates the signals of different modes through processing and classification of the data signals. Then, the three corresponding brake mode controller modules, clutch mode controller modules and joint motor control modules are issued; the braking mode controller module, the clutch mode controller module and the joint motor control module are sent to the corresponding driver module and the driving mechanism after being subjected to signal processing, the instruction is realized, and then detected electric signal information is fed back to the master controller in real time through the current detection module, so that the real-time detection feedback adjustment of the current of the braking mode is realized.
The joint motor control module can send a torque transmission instruction to a designed driver through a control board of the motor to realize the movement of a joint driver part, and meanwhile, due to a detection module of the motor, sensor data of the motor can be read in real time to realize sensing feedback and control instructions of the motor, and detection of torque, angle, angular speed, angular acceleration and temperature is realized through motor feedback of the motor; and the control of moment, angle, angular speed, rigidity and damping is realized through the control of own motor instructions.
Further, the driver module 200 mainly comprises a brake mode driver module 201 and a clutch mode driver module 202. The braking mode driver module 201 and the clutch mode driver module 202 control coils in different modes by receiving instructions of a braking mode controller module and a clutch mode controller module; specifically, the braking mode controller module controls the braking mode exciting coil 1; the clutch mode driver module controls the clutch mode exciting coil 3; after the driving mechanism part receives instructions of the braking mode driver module and the clutch mode driver module, exciting coils in different modes are supplied with current, at the moment, the coils can generate magnetic fields in the space, magnetorheological fluid filled between discs can change viscosity, and the expected working state is realized by combining the magnetorheological effect of the magnetorheological fluid.
Further, the current detection module 400 mainly comprises a brake mode current detection module 401 and a clutch mode current detection module 402. The brake mode current detection module 401 and the clutch mode current detection module 402 detect the magnitude of the current flowing into the exciting coil in real time through a current sensor. In the clutch mode, a Hall type current sensor is used for detecting the current which is fed into the clutch exciting coil in the clutch mode. In the braking mode, the current of the braking exciting coil in the braking mode is detected by a Hall type current sensor.
Further, the man-machine interface parameters are set, the data information is sent to the upper computer 101, and the data instruction is sent to the braking mode controller module 103, the clutch mode controller module 104 and the joint motor control module 105 for command execution through the master controller 102 controlled by the upper computer 101.
In the attitude-keeping driving control mode, after receiving a control instruction of the master controller 102, the braking mode controller module 103 issues the control instruction to the braking mode driver module 201, and current is supplied to the driver braking mode exciting coil 1, and after the current is supplied, the braking mode exciting coil 1 generates a magnetic field at this time, so that magnetorheological fluid filled between the third shearing disc 12 and the fourth shearing disc 13 generates a magnetorheological effect, and the magnetorheological fluid is solidified, thereby realizing friction braking between the braking discs. Then, the brake mode current detection module 401 detects a current signal and feeds the current signal back to the overall controller 102, so that the current is updated in real time.
In the flexible torque driving control mode, after receiving the instruction of the master controller 102, the clutch mode controller module 104 issues the instruction to the clutch mode driver module 202, and current is supplied to the clutch mode exciting coil 3 of the driver, and after the current is supplied, the clutch mode exciting coil 3 generates a magnetic field at this time, and the state of magnetorheological fluid changes under the action of the magnetic field; in the clutch mode, due to the magneto-rheological effect of the magneto-rheological fluid, the magneto-rheological fluid filled between the first shearing disc 10 and the second shearing disc 11 in the clutch mode is solidified, so that the first shearing disc 10 and the second shearing disc 11 in the clutch mode move together to realize clutch movement; the current signal is detected by the clutch mode current detection module 402 and fed back to the overall controller 102, so that the current is updated in real time.
When the clutch exciting coil 3 and the brake exciting coil 1 are energized at the same time, the inner rotator 6 and the outer rotator 5 are in a locked state, and the joint motor 301 can be kept in a stationary position.
The joint motor 301 controller sends a torque transmission instruction to the designed joint driver through a control board of the motor, so that the motion of the joint driver part is realized, and the detection of the torque, the angle, the angular speed, the angular acceleration and the temperature is realized through the feedback of the motor; and the control of moment, angle, angular speed, rigidity and damping is realized through the control of own motor instructions.
The switching between the clutch mode and the brake mode is realized by adjusting the on-off state of the exciting coil. The clutch mode exciting coil 3 is electrified, the brake mode exciting coil 1 is powered off, and the flexible torque driving control mode of the driver is adopted at the moment; the clutch mode exciting coil 3 is de-energized, and the brake mode exciting coil 1 is energized, at which time the drive control mode is maintained for the attitude of the drive.
Different current control strategies are adopted in a flexible torque driving control mode and a gesture maintaining driving control mode of the driver. In a flexible torque driving control mode, the clutch exciting coil 3 is electrified, the braking mode coil 1 is powered off, and only the first shearing disc 10 and the second shearing disc 11 move at the moment, so that the movement following of external equipment at the output end of the driver can be realized; in the gesture maintaining driving control mode, the clutch exciting coil 3 is suddenly disconnected, and the brake mode exciting coil 1 is electrified, so that the motion maintaining of external equipment can be realized under the condition; when the brake mode exciting coil 1 is powered off again, the external equipment is restored to the initial position. When the clutch exciting coil 3 and the brake exciting coil 1 are electrified, the shearing discs and the brake discs are in locking states, and at the moment, the rotating shaft of the joint motor is protected from being damaged under the condition of power failure.
The above-described embodiments of the invention are intended to be examples only, and not all changes that come within the scope of the invention or the equivalents thereof are intended to be embraced thereby.
Claims (10)
1. A dual mode control system for a flexible drive means for a robot tip, comprising
The device comprises a control module, a driver module, a driving mechanism and a current detection module;
The driving mechanism comprises a joint motor and a driver; the driver comprises an inner revolving body and an outer revolving body; the inner revolving body is connected with the joint motor, and a clutch mode exciting coil is arranged in the inner revolving body; the inner revolving body is rotationally connected with the outer revolving body through an inner bearing, and the outer revolving body is connected with the shell of the outermost ring through an outer bearing; a brake disc is arranged in a space formed by the outer revolving body, the outer bearing and the shell, and the inner ring of the brake disc is provided with a plurality of shearing discs IV which are formed together with the brake disc;
The inner ring of the outer revolving body is provided with a plurality of rings of second shearing discs, the middle position of the outer ring of the inner revolving body is provided with a plurality of rings of first shearing discs, the second shearing discs and the first shearing discs are inserted together, a gap formed by the two shearing discs is filled with magnetorheological fluid, and the magnetorheological fluid is controlled by a clutch mode exciting coil; a third shearing disc with multiple circles is arranged on the outer ring of the outer revolving body, the third shearing disc and the fourth shearing disc are inserted together, and a gap formed by the third shearing disc and the fourth shearing disc is filled with magnetorheological fluid; the magnetorheological fluid is controlled by a braking mode exciting coil;
The driver module is respectively connected with the braking mode exciting coil and the clutch mode exciting coil, and the braking mode exciting coil and the clutch mode exciting coil are respectively connected with the current detection module; the control module controls the driver module and the joint motor.
2. The dual mode control system of the robot distal end flexible drive of claim 1, wherein said controller module comprises a brake mode controller module, a clutch mode controller module and a joint motor control module controlled by a host computer, a master controller and a master controller.
3. The dual mode control system of a robot distal flexible drive of claim 2, wherein said driver module comprises a brake mode driver module and a clutch mode driver module.
4. A dual mode control system for a robot distal flexible drive of claim 3, wherein the brake mode controller module controls the brake mode driver module and the clutch mode controller module controls the clutch mode driver module; the joint motor control module controls the joint motor.
5. A dual mode control system for a robot end flexible drive of claim 3, wherein said brake mode driver module drives a brake mode excitation coil; the clutch mode driver module drives the clutch mode exciting coil.
6. The dual-mode control system of the flexible driving device at the tail end of the robot according to claim 1, wherein the current detection module mainly comprises a braking mode current detection module and a clutch mode current detection module, and the braking mode current detection module detects the current fed into the braking mode exciting coil in real time through a current sensor; the clutch mode current detection module detects the current of the exciting coil in the clutch mode in real time through a current sensor.
7. A control method of a dual mode control system for a robot distal flexible drive according to any of claims 2-6,
When the flexible torque at the tail end of the robot drives the control mode to output, the upper computer sends a clutch mode control instruction to the clutch mode controller module through the master controller, the clutch mode controller module converts the control instruction into current output of the clutch mode driver module, drives the clutch mode exciting coil to generate a magnetic field, controls magnetorheological fluid viscosity between the first shearing disc at the outer side of the internal rotator and the second shearing disc at the inner side of the external rotator, and drives flexible torque output of the external rotator through the external internal rotator of the joint motor, and the clutch module current detection module feeds current signals of the clutch mode exciting coil back to the master controller to realize state detection of the torque output mode;
When the flexible gesture at the tail end of the robot keeps driving the control mode to output, the upper computer issues a clutch mode control instruction to the braking mode controller module through the master controller, the braking mode controller module converts the control instruction into current output of the braking mode driver module, the viscosity of magnetorheological fluid filled in the outer sides of the brake disc and the outer rotating body is controlled through the brake coil, braking of the outer rotating body is achieved, and the braking module current detection module feeds current signals of the brake coil back to the master controller, so that braking state detection of the outer rotating body is achieved.
8. The control method of a dual-mode control system of a robot end flexible driving device according to claim 7, wherein in the attitude-keeping driving control mode, the braking mode controller module issues a braking mode part of the driver after receiving an instruction of the master controller, and current is fed into a braking mode exciting coil of the driver, and current signals are detected by a braking mode current detection module and fed back to the master controller, so that the current is updated in real time.
9. The control method of the dual-mode control system of the flexible driving device of the tail end of the robot according to claim 7, wherein in the flexible torque driving control mode, the clutch mode controller module sends the command of the master controller to the clutch mode part of the driver after receiving the command of the master controller, and the current is fed into the excitation coil of the clutch mode of the driver, and the current signal is detected by the current detection module of the clutch mode and fed back to the master controller, so that the current is updated in real time.
10. The method of controlling a dual mode control system of a robot distal flexible drive of claim 7, wherein the inner rotator and the outer rotator are in a locked state to maintain a stationary position of the articulation motor when the clutch field coil and the brake field coil are energized simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410863789.7A CN118418162A (en) | 2024-06-29 | 2024-06-29 | Dual-mode control system and method for flexible driving device at tail end of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410863789.7A CN118418162A (en) | 2024-06-29 | 2024-06-29 | Dual-mode control system and method for flexible driving device at tail end of robot |
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| CN118418162A true CN118418162A (en) | 2024-08-02 |
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| CN202410863789.7A Pending CN118418162A (en) | 2024-06-29 | 2024-06-29 | Dual-mode control system and method for flexible driving device at tail end of robot |
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| Country | Link |
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| CN (1) | CN118418162A (en) |
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