Repair of the main charging Hand robot position feedback system

The present invention relates to a charging repair robot main hand position feedback system, which uses the required position, force servo double closed-loop control, high precision control, real-time, stable and reliable, more convenient operation, high voltage electric robot operation to meet the task. It comprises a handheld terminal, a main controller and a robot arm controller hands; handheld terminal includes a microprocessor I, which are respectively connected to the liquid crystal module, a keyboard; a microprocessor master controller hand II and III microprocessor, the microprocessor I II through the serial port connected to the microprocessor, via dual-port RAM and a microprocessor III, II microprocessor with a further a / D converter I, I is connected to the wireless module, a / D converter I and the potential of main hand connected, I wireless module connected to the wireless communication module II, II and wireless module robot arm controller; III microprocessor and controller connected to the motion controller is connected with the motor driver, the motor driver drives the torque motor main hand.