CN102310407A - Bionic control method and control system of mechanical arm - Google Patents

Bionic control method and control system of mechanical arm Download PDF

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Publication number
CN102310407A
CN102310407A CN201110102757A CN201110102757A CN102310407A CN 102310407 A CN102310407 A CN 102310407A CN 201110102757 A CN201110102757 A CN 201110102757A CN 201110102757 A CN201110102757 A CN 201110102757A CN 102310407 A CN102310407 A CN 102310407A
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CN
China
Prior art keywords
control
mechanical arm
jib
joint
saves
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CN201110102757A
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Chinese (zh)
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CN102310407B (en
Inventor
周翔
熊俊
赵聿晴
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三一重工股份有限公司
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Priority to CN201110102757.8A priority Critical patent/CN102310407B/en
Publication of CN102310407A publication Critical patent/CN102310407A/en
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Abstract

The invention relates to a bionic control method of a mechanical arm. Control equipment is produced for simulating various joint positions of an arm. Various joints of the control equipment correspond to various sections of arm frames of the mechanical arm. The method comprises the following steps of: simulating motion processes of various sections of arm frames of the mechanical arm by the control equipment, and generating angle change values of various joints according to the motion processes; and calculating motion angle values of various sections of arm frames of the mechanical arm according to the angle change values of various joints, and controlling various sections of arm frames of the mechanical arm to rotate correspondingly. The method provided by the invention further comprises the following steps of: simulating motions of various sections of arm frames of the mechanical arm by the control equipment, and generating current angle values of various joints; and controlling various sections of arm frames of the mechanical arm to rotate in corresponding angles according to the current angle values of various joints. According to the invention, the mechanical arm is operated by an operator through bionic motions so that various sections of arm frames of the mechanical arm act simultaneously; the mechanical arm is coherent to act; the motion process is steady; the motion change of the remote end of the mechanical arm is small; and the accuracy for the mechanical arm to reach an appointed position is effectively increased.

Description

Bionical control method of a kind of mechanical arm and control system
Technical field
The present invention relates to engineering machinery and control technical field, bionical control method of particularly a kind of mechanical arm and control system.
Background technology
Many large-scale engineering machineries particularly have the engineering machinery of more piece jib or bending construction machine arm, and for example concrete mixer, crane, excavator etc. need accurately be controlled mechanical arm, satisfy job requirements.At present, the control mode of traditional mechanical arm adopts the control mode of hydraulic manual and wireless remote control, by each shoulder joint of Artificial Control mechanical arm, makes controll plant " step one is moving " move to the target location.
Referring to Fig. 1, existing machinery arm control system schematic is shown, comprise master controller 11, with master controller 11 wireless connections, the remote controller 12 of the master controller 11 that sends control information; Be connected with master controller 11, be used to show the display 13 of mechanical arm 15 course of action; Be arranged on mechanical arm 15 each joint, promote the jib banked direction control valves 17 and hydraulic jack 16 of mechanical arm 15 actions; Be arranged on the mechanical arm 15, be used to obtain the various kinds of sensors 14 of manipulator motion status information.
During work, remote controller 12 master controller 11 that sends control information, master controller 11 with this control information after corresponding calculated; Sending controling instruction is to jib banked direction control valves 17; 17 actions of jib banked direction control valves drive hydraulic jack 16 synchronization actions, promote mechanical arm 15 corresponding action; Various kinds of sensors 14 sends to master controller 11 with mechanical arm 15 current state informations, and master controller 11 is judged the current location of mechanical arm according to this current status information.
Though above-mentioned mechanical arm control system can make mechanical arm 15 arrive assigned address; But the jib that respectively saves of controlling mechanical arm moves with need controlling personnel " a step one moving " successively, in the control procedure mechanical arm action discontinuous, motion process is not steady; The mechanical arm remote action changes greatly, and accuracy is lower.And this control procedure length consuming time, power consumption is big, and control efficiency is lower.
Summary of the invention
The objective of the invention is the bionical control method of a kind of mechanical arm, this method effectively improves the control accuracy and the control efficiency of mechanical arm.
The bionical control method of a kind of mechanical arm of the present invention; Each joint position of anthropomorphic dummy's arm is made control appliance; The corresponding mechanical arm in each joint of control appliance respectively saves jib; This method may further comprise the steps: said control appliance simulation mechanical arm respectively saves the course of action of jib, generates each joint angles changing value according to course of action; According to each joint angles changing value, the calculating machine arm respectively saves jib and needs the move angle value, and the control mechanical arm respectively saves the corresponding rotation of jib.
Preferably; The control mechanical arm respectively saves before the jib corresponding actions; Also comprise: judge that mechanical arm respectively saves jib and needs the move angle value whether within tolerance band, as not, the filtering mechanical arm respectively saves jib and needs the move angle value; Do not control mechanical arm action, send until the next control action of control appliance.
Preferably, also comprise: generate each joint angle velocity variations value according to course of action; According to each joint angle velocity variations value, the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and the control mechanical arm respectively saves the corresponding rotational angular velocity of jib.
Preferably, the control mechanical arm respectively saves before the jib corresponding actions, also comprises: judge that mechanical arm respectively saves jib and needs the traveling angle velocity amplitude whether within tolerance band, as not, move with predetermined magnitude of angular velocity.
Preferably, said control appliance is provided with enable button, and this method also comprises: touch enable button, transmission is preset and is enabled control information; According to enabling the action of control information control mechanical arm.
Preferably, said control appliance is provided with rotary knob, and this method also comprises: touch rotary knob, send Spin Control information; Carry out corresponding spinning movement according to Spin Control information Control mechanical arm.
The present invention also provides the bionical control of a kind of mechanical arm system, and this system effectively improves the control accuracy and the control efficiency of mechanical arm.
The bionical control of a kind of mechanical arm of the present invention system comprises the control appliance of each joint position of anthropomorphic dummy's arm, making, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on the control appliance is provided with obliquity sensor; Also comprise master controller, master controller comprises the angle calculation module and first control module: said control appliance is used to simulate the course of action that mechanical arm respectively saves jib; Obliquity sensor is used for generating each joint angles changing value according to course of action, sends to the angle calculation module; The angle calculation module is used for according to each joint angles changing value, and the calculating machine arm respectively saves jib and needs the move angle value; First control module is used to control mechanical arm and respectively saves the corresponding rotation of jib.
Preferably, master controller also comprises first security module, is used to judge that mechanical arm respectively saves jib and needs the move angle value whether within tolerance band; As denying; The filtering mechanical arm respectively saves jib and needs the move angle value, does not control the mechanical arm action, sends until the next control action of control appliance.
Preferably; Also be provided with angular-rate sensor on each joint of said control appliance; Said master controller also comprises the angular speed calculation module and second control module: angular-rate sensor, be used for generating each joint angle velocity variations value according to course of action, and send to the angular speed calculation module; The angular speed calculation module is used for according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude; Second control module is used to control mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
Preferably, master controller also comprises second security module, is used to judge that mechanical arm respectively saves jib and needs the traveling angle velocity amplitude whether within tolerance band; As denying; The filtering mechanical arm respectively saves jib and needs the traveling angle velocity amplitude, does not control the mechanical arm action, sends until the next control action of control appliance.
Preferably, said control appliance is provided with enable button, and master controller also comprises enable module; Enable button, transmission is preset and is enabled control information to enable module when being used to be touched; Enable module is used for implementing deliberate action according to enabling control information control mechanical arm.
Preferably, said control appliance is provided with rotary knob, and master controller also comprises rotary module; Rotary knob sends Spin Control information to rotary module when being used to be touched; Rotary module is used for carrying out corresponding spinning movement according to Spin Control information Control mechanical arm.
The present invention also provides a kind of mechanical arm bionical control method, and this method effectively improves the control accuracy and the control efficiency of mechanical arm.
The bionical control method of a kind of mechanical arm of the present invention; Each joint position of anthropomorphic dummy's arm is made control appliance; The corresponding mechanical arm in each joint of control appliance respectively saves jib; This method may further comprise the steps: said control appliance simulation mechanical arm respectively saves the jib action, and said control appliance upper sensor generates the current angle value in each joint; According to the current angle value in each joint, the control mechanical arm respectively saves jib and turns to respective angles.
Preferably, also comprise: generate each joint angle velocity variations value according to course of action; According to each joint angle velocity variations value, the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and the control mechanical arm respectively saves the corresponding rotational angular velocity of jib.
The present invention also provides the bionical control of a kind of mechanical arm system, and this system effectively improves the control accuracy and the control efficiency of mechanical arm.
The bionical control of a kind of mechanical arm of the present invention system; The control appliance that each joint position of anthropomorphic dummy's arm is made; The corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on the control appliance is provided with obliquity sensor: said control appliance is used to simulate mechanical arm and respectively saves the jib action; Said obliquity sensor is used to generate the current angle value in each joint, sends to master controller; Said master controller is used for according to the current angle value in each joint, and the control mechanical arm respectively saves jib and turns to respective angles.
Preferably; Also be provided with angular-rate sensor on each joint of said control appliance; Said master controller also comprises the angular speed calculation module and second control module: angular-rate sensor, be used for generating each joint angle velocity variations value according to course of action, and send to the angular speed calculation module; The angular speed calculation module is used for according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude; Second control module is used to control mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
Compared with prior art, the present invention has the following advantages:
Manipulator of the present invention moves the jib that respectively saves of mechanical arm through bionical motion action mechanical arm simultaneously, and the mechanical arm action links up, and motion process is steady, and the mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, weak point consuming time, and it is little to consume energy, and control efficiency is higher.
Description of drawings
Fig. 1 is existing machinery arm control system schematic;
Fig. 2 is the mechanical arm structural representation;
Fig. 3 is a control appliance structural representation of the present invention;
Fig. 4 is the bionical control method first embodiment flow chart of mechanical arm of the present invention;
Fig. 5 is the bionical control method second embodiment flow chart of mechanical arm of the present invention;
Fig. 6 is bionical control method the 3rd embodiment flow chart of mechanical arm of the present invention;
Fig. 7 is the bionical control system schematic of mechanical arm of the present invention;
Fig. 8 is bionical another control method flow chart of mechanical arm of the present invention;
Fig. 9 is bionical another control system schematic of mechanical arm of the present invention.
The specific embodiment
For make above-mentioned purpose of the present invention, feature and advantage can be more obviously understandable, below in conjunction with accompanying drawing and the specific embodiment the present invention done further detailed explanation.
People's finger reaches 18 to the joint of arm shoulder; Joint point-blank reaches 6; The joint that can rotate flexibly has 3, and the 3rd joint of hand thumb is because special muscle mechanism also can provide certain rotary moveable; Therefore applying in a flexible way of the joint through hand can effectively be accomplished the bionical action of all kinds of mechanical arms.Each joint position of anthropomorphic dummy's arm of the present invention makes may be worn on the control appliance on the arm, and the corresponding mechanical arm in each joint of control appliance respectively saves jib.Control appliance is controlled the mechanical arm corresponding actions through the action of bionical action simulation mechanical arm, and Synchronization Control more piece jib arrives specified angle or position; Accomplish corresponding action; Make complicated operations action originally become simple, the serial action of accomplishing step by step originally, the bionical control of passing through that can be very natural is operated concurrently; The Optimizing operation flow process is increased work efficiency greatly.
Illustrate control appliance of the present invention.
Referring to Fig. 2 and Fig. 3, mechanical arm structural representation and control appliance structural representation are shown respectively, mechanical arm comprises rig floor, the jib B1, jib B2, jib B3 and the jib B4 that flexibly connect successively, each saves all to be provided with on the jib and promotes the hydraulic jack that jib rotates.
Control appliance comprises joint G1, joint G2, joint G3 and the joint G4 of flexible connection, is equipped with sensor on each joint, is used for responding to the rotational angle and the velocity of rotation in each joint.Joint G1, joint G2, joint G 3 and joint G4 are corresponding with jib B1, jib B2, jib B3 and jib B4 successively, and the action message in each joint sends to controller through sensor, control corresponding jib by controller and follow action.
Control appliance of the present invention is not only applicable to the mechanical arm of 4 joint jibs, is suitable for the above and various mechanical arms below the 4 joint jibs of 4 joint jibs yet.
Bionical control method first embodiment of mechanical arm of the present invention.
Referring to Fig. 4, concrete steps are following.
Step S401, control appliance simulation mechanical arm respectively save the course of action of jib, and said control appliance upper sensor generates each joint angles changing value according to course of action, sends to master controller.
Control appliance of the present invention can be designed to be able to be set on the shape on thumb or the forefinger, or through the shape of auxiliary equipment bind on the hand joint, each joint of control appliance and each joint of human arm match.When controlling, the manipulator controls control appliance through arm, and because of the position in each joint of control appliance and structure and human arm adapt, each joint of control appliance can be flexibly with manipulator's arm synchronization action.Each joint of control appliance is provided with sensor, and sensor detects each joint angles change information of control appliance, and each joint angles change information is sent to master controller through wireless or wired mode.
Step S402, said master controller are according to each joint angles changing value, and the calculating machine arm respectively saves jib and needs the move angle value, and the control mechanical arm respectively saves the corresponding rotation of jib.
The jib that respectively saves of mechanical arm is provided with sensor, and sensor sends to master controller with the current jib angle information that respectively saves of mechanical arm, and master controller gets access to each joint angles change information, and the calculating machine arm respectively saves jib and needs the move angle value, calculates as follows:
θ '=a+b θ formula 1
θ is certain joint angles changing value, and θ ' is that the corresponding mechanical arm in this joint one joint jib needs the move angle value, and a is a undetermined coefficient, can be according to different mode setting (manual or automatic); B is a variation coefficient.Through the difference of angular transition in two coordinate systems of undetermined coefficient a configuration of this joint jib, carry out the respective angles calibration, through the ratio of angle variation in two coordinate systems of variation coefficient b configuration.
Through type 1, master controller calculating machine arm successively respectively save jib and need the move angle value, and each hydraulic jack corresponding work of control mechanical arm makes and respectively saves jib and move simultaneously, lets mechanical arm arrive and formulates the position.
Manipulator of the present invention moves the jib that respectively saves of mechanical arm through bionical motion action mechanical arm simultaneously, and the mechanical arm action links up, and motion process is steady, and the mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, weak point consuming time, and it is little to consume energy, and control efficiency is higher.
Bionical control method second embodiment of mechanical arm of the present invention.This embodiment and the main distinction embodiment illustrated in fig. 4 are to increase mechanical arm angular speed control scheme.
Referring to Fig. 5, concrete steps are following.
Step S501, control appliance simulation mechanical arm respectively save the course of action of jib, and said control appliance upper sensor generates each joint angles changing value and each joint angle velocity variations value according to course of action, sends to master controller.
Each joint of control appliance not only is provided for the obliquity sensor of detection angles changing value, also is provided for detecting the angular-rate sensor of angular velocity varies.Certainly, the present invention also can obtain the angular velocity varies value through obliquity sensor signal differential sequence is calculated.
Step S502, said master controller are according to each joint angles changing value; The calculating machine arm respectively saves jib and needs the move angle value; According to each joint angle velocity variations value; The calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and needs move angle value and magnitude of angular velocity according to each joint jib, and the control mechanical arm respectively saves the jib corresponding actions.
Mechanical arm respectively saves the obliquity sensor that jib not only is provided for the detection angles changing value, also is provided for detecting the angular-rate sensor of angular velocity varies.Obliquity sensor and angular-rate sensor send to master controller with detected value.
Master controller calculates as follows:
θ '=a+b θ formula 1
ω '=c+d ω formula 2
In the formula 1, θ is certain joint angles changing value, and θ ' is that the corresponding mechanical arm in this joint one joint jib needs the move angle value, and a is a undetermined coefficient, and b is a variation coefficient.In the formula 2, ω is certain joint angle velocity variations value, and ω ' is that the corresponding mechanical arm in this joint one joint jib needs the traveling angle velocity amplitude, and c is a undetermined coefficient, can be according to different mode setting (manual or automatic), and d is a variation coefficient.
In the scheme shown in this embodiment, control move angle and the angular speed that mechanical arm respectively saves jib simultaneously according to bionical control, can more convenient manipulator control the translational speed of mechanical arm, further improve control efficiency.
Bionical control method the 3rd embodiment of mechanical arm of the present invention.This embodiment and the main distinction embodiment illustrated in fig. 5 are to increase the filtering scheme to dangerous control instruction.
Referring to Fig. 6, concrete steps are following.
Step S601, control appliance simulation mechanical arm respectively save the course of action of jib, and said control appliance upper sensor generates each joint angles changing value and each joint angle velocity variations value according to course of action, sends to master controller.
Step S602, said master controller are according to each joint angles changing value, and the calculating machine arm respectively saves jib and needs the move angle value.
Step S603, said master controller judge that mechanical arm respectively saves jib and needs move angle whether within tolerance band; As not, the filtering mechanical arm respectively saves jib and needs the move angle value, after the filtering; Do not control mechanical arm action, send until the next control action of control appliance; In this way, forward step S606 to.
Step S604, according to each joint angle velocity variations value, the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude.
Step S605, said master controller judge that mechanical arm respectively saves jib and needs traveling angle speed whether within tolerance band, and as not, the filtering mechanical arm respectively saves jib and needs the traveling angle velocity amplitude, with predetermined magnitude of angular velocity action; In this way, forward step S606. to
Step S606, need move angle value and magnitude of angular velocity according to each joint jib, the control mechanical arm respectively saves the jib corresponding actions.
The present invention is through needing move angle value and magnitude of angular velocity reasonably to screen to each joint jib, and filtering possibly cause the unsafe control instruction of mechanical arm, effectively improves the security of controlling mechanical arm action in the process.
For improving the ena-bung function of control appliance, the present invention is provided with enable button on control appliance, accomplishes the operation of ena-bung function such as time-out, and concrete performing step is:
Touch enable button, said control appliance sends to preset and enables control information to master controller;
Said master controller is according to enabling the action of control information control mechanical arm.
For better accomplishing the spinfunction of mechanical arm, like the rotation of turntable, the present invention is provided with rotary knob on control appliance, and concrete performing step is:
Touch rotary knob, said control appliance sends Spin Control information to master controller;
Said master controller is carried out corresponding spinning movement according to Spin Control information Control mechanical arm.
According to the bionical control method of aforementioned mechanical arm, the present invention also provides the bionical control of a kind of mechanical arm system.See Fig. 7; This system comprises mechanical arm 70; Each joint position of anthropomorphic dummy's arm, making may be worn on the control appliance 71 on the arm; The corresponding mechanical arm in each joint of control appliance 71 respectively saves jib, and each joint on the control appliance 71 is provided with obliquity sensor 711 and angular-rate sensor 712, and enable button 713 and rotary knob 714; Also comprise master controller 72, master controller 72 comprises angle calculation module 721, first control module 722, first security module 723, angular speed calculation module 724, second control module 725, second security module 726, enable module 727 and rotary module 728.
The pre-activity that said control appliance 71 simulation mechanical arms 70 respectively save jib is made process;
Obliquity sensor 711 generates each joint angles changing value according to course of action, sends to angle calculation module 721, and angle calculation module 721 is according to each joint angles changing value; The calculating machine arm respectively saves jib and needs the move angle value; Send to first security module, 723, the first security modules 723 and judge that mechanical arm respectively saves jib and needs the move angle value whether within tolerance band, as not; The filtering mechanical arm respectively saves jib and needs the move angle value; After the filtering, do not control mechanical arm action, send until the next control action of control appliance; In this way, start first control module, 722, the first control modules, 722 control mechanical arms 70 and respectively save the corresponding rotation of jib.
Angular-rate sensor 712 generates each joint angle velocity variations value according to course of action, sends to angular speed calculation module 724, and angular speed calculation module 724 is according to each joint angle velocity variations value; The calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude; Send to second security module, 726, the second security modules 726 and judge that mechanical arm respectively saves jib and needs the traveling angle velocity amplitude whether within tolerance band, as not; The filtering mechanical arm respectively saves jib and needs the traveling angle velocity amplitude, with predetermined magnitude of angular velocity action; In this way, start second control module, 725, the second control modules, 725 control mechanical arms 70 and respectively save the corresponding rotational angular velocity of jib.
Transmission was preset and is enabled control information to enable module 727 when enable button 713 was touched, and enable module 727 is according to enabling control information control mechanical arm corresponding actions.
Send Spin Control information when rotary knob 714 is touched to rotary module 728, rotary module 728 is carried out corresponding spinning movement according to Spin Control information Control mechanical arm.
The present invention also can be according to the current angle value in each joint, control appliance action back, and the control mechanical arm respectively saves jib and turns to respective angles, and it is consistent to make mechanical arm respectively save each joint of angle and control appliance of jib.This control mode and the control appliance that all is based on embodiment illustrated in fig. 4 belong to same inventive concept.
Referring to Fig. 8, concrete steps are following.
Step S801, control appliance simulation mechanical arm respectively save the jib action, and the control appliance upper sensor generates the current angle value in each joint, sends to master controller.
Step S802, master controller are according to the current angle value in each joint, and the control mechanical arm respectively saves jib and turns to respective angles.
This method control appliance also can generate each joint angle velocity variations value according to course of action; Master controller is according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and the control mechanical arm respectively saves the corresponding rotational angular velocity of jib.
Manipulator of the present invention is through bionical motion action mechanical arm; It is identical to make mechanical arm respectively save each joint of angle and control appliance of jib, and the mechanical arm action links up like this, and motion process is steady; The mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, weak point consuming time, and it is little to consume energy, and control efficiency is higher.
According to the bionical control method of mechanical arm shown in Figure 8, the present invention also provides the bionical control of a kind of mechanical arm system.See Fig. 9, mechanical arm 70, each joint position of anthropomorphic dummy's arm, making may be worn on the control appliance 71 on the arm, and the corresponding mechanical arm in each joint of control appliance 71 respectively saves jib, and each joint on the control appliance 71 is provided with obliquity sensor 91; Also comprise master controller 92.
Control appliance 71 simulation mechanical arms respectively save the jib action, and obliquity sensor 91 generates the current angle value in each joint, sends to master controller 92, and master controller 92 is according to the current angle value in each joint, and the control mechanical arm respectively saves jib and turns to respective angles.
Also can be provided with angular-rate sensor on each joint of control appliance 71; Master controller 92 also comprises the angular speed calculation module and second control module: angular-rate sensor; Be used for generating each joint angle velocity variations value, send to the angular speed calculation module according to course of action; The angular speed calculation module is used for according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude; Second control module is used to control mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
The above is merely preferred implementation of the present invention, does not constitute the qualification to protection domain of the present invention.Any any modification of within spirit of the present invention and principle, being done, be equal to replacement and improvement etc., all should be included within the claim protection domain of the present invention.

Claims (16)

1. the bionical control method of mechanical arm is characterized in that, each joint position of anthropomorphic dummy's arm is made control appliance, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and this method may further comprise the steps:
Said control appliance simulation mechanical arm respectively saves the course of action of jib, generates each joint angles changing value according to course of action;
According to each joint angles changing value, the calculating machine arm respectively saves jib and needs the move angle value, and the control mechanical arm respectively saves the corresponding rotation of jib.
2. the method for claim 1 is characterized in that, the control mechanical arm respectively saves before the jib corresponding actions, also comprises:
Judge that mechanical arm respectively saves jib and needs the move angle value whether within tolerance band, as not, the filtering mechanical arm respectively saves jib and needs the move angle value, does not control the mechanical arm action, sends until the next control action of control appliance.
3. the method for claim 1 is characterized in that, also comprises:
Generate each joint angle velocity variations value according to course of action;
According to each joint angle velocity variations value, the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and the control mechanical arm respectively saves the corresponding rotational angular velocity of jib.
4. method as claimed in claim 3 is characterized in that, the control mechanical arm respectively saves before the jib corresponding actions, also comprises:
Judge that mechanical arm respectively saves jib and needs the traveling angle velocity amplitude whether within tolerance band, as not, with predetermined magnitude of angular velocity action.
5. like each described method of claim 1-4, it is characterized in that said control appliance is provided with enable button, this method also comprises:
Touch enable button, transmission is preset and is enabled control information;
According to enabling the action of control information control mechanical arm.
6. like each described method of claim 1-4, it is characterized in that said control appliance is provided with rotary knob, this method also comprises:
Touch rotary knob, send Spin Control information;
Carry out corresponding spinning movement according to Spin Control information Control mechanical arm.
7. the bionical control of a mechanical arm system is characterized in that, comprises the control appliance of each joint position of anthropomorphic dummy's arm, making, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on the control appliance is provided with obliquity sensor; Also comprise master controller, master controller comprises the angle calculation module and first control module:
Said control appliance is used to simulate the course of action that mechanical arm respectively saves jib;
Obliquity sensor is used for generating each joint angles changing value according to course of action, sends to the angle calculation module;
The angle calculation module is used for according to each joint angles changing value, and the calculating machine arm respectively saves jib and needs the move angle value;
First control module is used to control mechanical arm and respectively saves the corresponding rotation of jib.
8. system as claimed in claim 7; It is characterized in that master controller also comprises first security module, be used to judge that mechanical arm respectively saves jib and needs the move angle value whether within tolerance band; As denying; The filtering mechanical arm respectively saves jib and needs the move angle value, does not control the mechanical arm action, sends until the next control action of control appliance.
9. system as claimed in claim 7 is characterized in that, also is provided with angular-rate sensor on each joint of said control appliance, and said master controller also comprises the angular speed calculation module and second control module:
Angular-rate sensor is used for generating each joint angle velocity variations value according to course of action, sends to the angular speed calculation module;
The angular speed calculation module is used for according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude;
Second control module is used to control mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
10. system as claimed in claim 7; It is characterized in that master controller also comprises second security module, be used to judge that mechanical arm respectively saves jib and needs the traveling angle velocity amplitude whether within tolerance band; As denying; The filtering mechanical arm respectively saves jib and needs the traveling angle velocity amplitude, does not control the mechanical arm action, sends until the next control action of control appliance.
11. like each described system of claim 7-10, it is characterized in that said control appliance is provided with enable button, master controller also comprises enable module;
Enable button, transmission is preset and is enabled control information to enable module when being used to be touched;
Enable module is used for implementing deliberate action according to enabling control information control mechanical arm.
12. like each described system of claim 7-10, it is characterized in that said control appliance is provided with rotary knob, master controller also comprises rotary module;
Rotary knob sends Spin Control information to rotary module when being used to be touched;
Rotary module is used for carrying out corresponding spinning movement according to Spin Control information Control mechanical arm.
13. the bionical control method of mechanical arm is characterized in that, each joint position of anthropomorphic dummy's arm is made control appliance, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and this method may further comprise the steps:
Said control appliance simulation mechanical arm respectively saves the jib action, and said control appliance upper sensor generates the current angle value in each joint;
According to the current angle value in each joint, the control mechanical arm respectively saves jib and turns to respective angles.
14. method as claimed in claim 13 is characterized in that, also comprises:
Generate each joint angle velocity variations value according to course of action;
According to each joint angle velocity variations value, the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude, and the control mechanical arm respectively saves the corresponding rotational angular velocity of jib.
15. the bionical control of a mechanical arm system is characterized in that, the control appliance that each joint position of anthropomorphic dummy's arm is made, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on the control appliance is provided with obliquity sensor:
Said control appliance is used to simulate mechanical arm and respectively saves the jib action;
Said obliquity sensor is used to generate the current angle value in each joint, sends to master controller;
Said master controller is used for according to the current angle value in each joint, and the control mechanical arm respectively saves jib and turns to respective angles.
16. system as claimed in claim 15 is characterized in that, also is provided with angular-rate sensor on each joint of said control appliance, said master controller also comprises the angular speed calculation module and second control module:
Angular-rate sensor is used for generating each joint angle velocity variations value according to course of action, sends to the angular speed calculation module;
The angular speed calculation module is used for according to each joint angle velocity variations value, and the calculating machine arm respectively saves jib and needs the traveling angle velocity amplitude;
Second control module is used to control mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
CN201110102757.8A 2011-04-22 2011-04-22 Bionic control method and control system of mechanical arm CN102310407B (en)

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CN102910533A (en) * 2012-10-26 2013-02-06 北京机械设备研究所 Spatial angle measuring method based on crane
CN103015730A (en) * 2012-12-19 2013-04-03 中联重科股份有限公司 Boom shifting controller, boom shifting control system, boom shifting control method and pumping device
CN103148057A (en) * 2013-02-27 2013-06-12 中联重科股份有限公司 Method, equipment and system for controlling multi-joint hydraulic mechanical arm
CN105275926A (en) * 2015-11-12 2016-01-27 北汽福田汽车股份有限公司 Boom control method and system
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CN107160391A (en) * 2017-05-25 2017-09-15 深圳市越疆科技有限公司 Motion control method, third party's processing terminal and the storage medium of mechanical arm
CN107199564A (en) * 2017-05-25 2017-09-26 深圳市越疆科技有限公司 Motion control method and device and storage medium, the computer of mechanical arm
CN107214699A (en) * 2017-05-25 2017-09-29 深圳市越疆科技有限公司 Motion control method, microcontroller and the storage medium of mechanical arm
CN107263471A (en) * 2017-05-25 2017-10-20 深圳市越疆科技有限公司 Motion control method, third party's processing terminal and the storage medium of mechanical arm
CN107932554A (en) * 2017-10-26 2018-04-20 苏州乐轩科技有限公司 Electronic joint calibration method and calibrating installation
CN110394798A (en) * 2019-06-26 2019-11-01 深圳市智能机器人研究院 A kind of robot movement-control system angle sensor based and method

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Cited By (20)

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CN102615647A (en) * 2012-04-09 2012-08-01 邓世海 Multi-axis movement control method of industrial robot
CN102615647B (en) * 2012-04-09 2015-04-01 邓世海 Multi-axis movement control method of industrial robot
CN102910533A (en) * 2012-10-26 2013-02-06 北京机械设备研究所 Spatial angle measuring method based on crane
CN103015730A (en) * 2012-12-19 2013-04-03 中联重科股份有限公司 Boom shifting controller, boom shifting control system, boom shifting control method and pumping device
CN103015730B (en) * 2012-12-19 2015-01-21 中联重科股份有限公司 Boom shifting controller, boom shifting control system, boom shifting control method and pumping device
CN103148057A (en) * 2013-02-27 2013-06-12 中联重科股份有限公司 Method, equipment and system for controlling multi-joint hydraulic mechanical arm
CN103148057B (en) * 2013-02-27 2015-07-29 中联重科股份有限公司 A kind of method, apparatus and system that multi-joint hydraulic press mechanical arm is controlled
CN105643642A (en) * 2014-12-02 2016-06-08 宁夏巨能机器人系统有限公司 Positioning method for manipulator arm
CN105275926A (en) * 2015-11-12 2016-01-27 北汽福田汽车股份有限公司 Boom control method and system
CN106003041A (en) * 2016-06-17 2016-10-12 浙江理工大学 Control method for five-degree-of-freedom manipulator
CN106527224A (en) * 2016-11-05 2017-03-22 杭州畅动智能科技有限公司 Control method for equipment
CN107160391A (en) * 2017-05-25 2017-09-15 深圳市越疆科技有限公司 Motion control method, third party's processing terminal and the storage medium of mechanical arm
CN107199564A (en) * 2017-05-25 2017-09-26 深圳市越疆科技有限公司 Motion control method and device and storage medium, the computer of mechanical arm
CN107214699A (en) * 2017-05-25 2017-09-29 深圳市越疆科技有限公司 Motion control method, microcontroller and the storage medium of mechanical arm
CN107263471A (en) * 2017-05-25 2017-10-20 深圳市越疆科技有限公司 Motion control method, third party's processing terminal and the storage medium of mechanical arm
CN107160391B (en) * 2017-05-25 2020-07-31 深圳市越疆科技有限公司 Motion control method of mechanical arm, third-party processing terminal and storage medium
CN107214699B (en) * 2017-05-25 2020-07-31 深圳市越疆科技有限公司 Motion control method of mechanical arm, microcontroller and storage medium
CN107932554A (en) * 2017-10-26 2018-04-20 苏州乐轩科技有限公司 Electronic joint calibration method and calibrating installation
WO2019080379A1 (en) * 2017-10-26 2019-05-02 苏州乐轩科技有限公司 Electric joint calibration method and calibration device
CN110394798A (en) * 2019-06-26 2019-11-01 深圳市智能机器人研究院 A kind of robot movement-control system angle sensor based and method

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