CN104950909A - Control system and control method for multi-section mechanical arm - Google Patents
Control system and control method for multi-section mechanical arm Download PDFInfo
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Abstract
The invention discloses a control system and a control method for a multi-section mechanism arm. The control system for the multi-section mechanism comprises the components of: a remote control device which is used for transmitting a motion instruction to the multi-section mechanical alarm; a plurality of joint segments which are successively connected; a motion executing mechanism which is connected with the plurality of joint segments; a plurality of pose sensors which are used for measuring the angle information of the joint segments; a pose processor which receives the angle information which is transmitted by the plurality of pose sensors and establishes a three-dimensional space coordinate system in which the rotating center of a rotating bracket as an original point, and furthermore converts the angle information to a relative angle in the three-dimensional space coordinate system for acquiring the pose data of the plurality of joint segments; a moving track optimization computing unit which computes a required moving angle and speed to each joint segment by means of an optimization algorithm; and a motion servo controller which is used for controlling the motion executing mechanism according to the required moving angle and speed of the joint segment.
Description
Technical field
The present invention relates to a kind of multi-joint section, particularly relate to a kind of control system and method for multi-jointed mechanical arm.
Background technology
The joint segments that existing multi-joint section is not waited by 4 ~ 6 joint length is connected successively by swinging joint section, form the plane articulation type mechanical arm that has 6 joint segments, its one end is connected with a pivoting support, by any movement that bearing drives joint segments gyration that joint segments free end can be made to realize within the scope of certain space, this mechanism of difference according to its length is usually used in delivering concrete as concrete mixer, or conveying personnel equipment is as High Altitude Platform car, also for the equipment such as robot car of such as explosive-removal robot or operation in narrow space.
The control of multi-joint section free end position utilizes opening or draws mechanical arm being changed at space angle and length the locus of change mechanical arm free end of the driving mechanism driving joint be arranged in each turning joint.Drive as adopted hydraulic jack or DC servo motor driving.
In use procedure, for realizing the change of jib free end position, need multi-arm joint and the teamwork of slew gear realize.Operator needs to judge that the adjustment each joint segments being carried out to pose just can move jib free end arrival job requirement position according to use experience and scene, as shown in Figure 1, jib free end position A moves to B point, need the 4th and the 2 the 3 three joint jib teamworks, and the angle of to open due to each jib and speed only rely on operator's naked eyes to judge, thus jib free end travel cannot smooth transition.The artificial pose scalability of general mechanical arm cannot take into account mechanical arm each joint attitude on work affect mechanical arm as served as concrete distribution machinery time in delivering concrete process on the impact of concrete flowing, to the conveying of welding gas and welding material when and for example mechanical arm serves as robotic weld arm, and the factor such as the bearing strength test of mechanical arm.There is very large negative effect in the life-span of inappropriate jib attitude to the stability in the mechanical arm course of work and mechanical arm.
Summary of the invention
The object of the present invention is to provide a kind of control system of multi-jointed mechanical arm, regulated by artificial visually examine in order to solve existing multi-jointed mechanical arm, had to the problem of very large negative effect the life-span of the stability in the mechanical arm course of work and mechanical arm.
The control system of a kind of multi-jointed mechanical arm of the present invention, this multi-jointed mechanical arm comprises pivoting support and multiple joint segments, the plurality of joint segments connects successively, one end of the plurality of joint segments is arranged at the centre of gyration of this pivoting support, this control system comprises: telechiric device, for sending movement instruction to this multi-jointed mechanical arm; Moving type actuating mechanism, is connected with the plurality of joint segments, moves for driving the plurality of joint segments; Multiple Position and attitude sensor, correspondence is installed in the plurality of joint segments, for measuring the angle information of respectively this joint segments; Pose processor, be connected with the plurality of Position and attitude sensor, described pose processor receives this angle information that the plurality of Position and attitude sensor sends, and set up the three-dimensional coordinate system being initial point with the centre of gyration of this pivoting support, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of the plurality of joint segments; Motion track optimizes arithmetical unit, for obtaining these pose data of this pose processor, and according to this movement instruction in conjunction with these pose data, uses optimized algorithm to calculate angle to movement required for this joint segments each and speed; Motion servo controller, for according to the angle of this joint segments movement and speed, controls this moving type actuating mechanism, makes this moving type actuating mechanism correspondence drive respectively this joint segments motion.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this movement instruction is the direction of motion vector speed of this mechanical arm tail end.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this Position and attitude sensor is absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this pose processor is and filtering process smoothing to this angle information also.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this telechiric device can control the locking of one or more this joint segments.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this motion track optimizes arithmetical unit according to the joint segments calculation optimization path not having to lock.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, this motion track is optimized arithmetical unit and is used optimized algorithm to calculate to comprise the angle of movement required for this joint segments each and speed: this motion track optimizes the target location of movement needed for free end that arithmetical unit receives this multi-jointed mechanical arm that this telechiric device sends, according to the maximum displacement of this free end movement, calculating respectively this joint segments should the angle of movement and speed.
According to an embodiment of the control system of a kind of multi-jointed mechanical arm of the present invention, wherein, to solve an equation by inverting and Minimum-Norm Method solves the inverse motion often saving mechanical arm.
Present invention also offers a kind of control method of multi-jointed mechanical arm, a kind of control method of multi-jointed mechanical arm, this multi-jointed mechanical arm comprises: multiple joint segments, and the plurality of joint segments connects successively, and one end of the plurality of joint segments is arranged at the pivoting support of multi-jointed mechanical arm; This control method comprises: the angle information measuring respectively this mechanical arm; Set up the three-dimensional coordinate system being initial point with the centre of gyration of mechanical arm, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of multiple joint segments; According to movement instruction in conjunction with these pose data, optimized algorithm is used to calculate angle to movement required for this joint segments each and speed; The angle of movement required for this joint segments each and speed, control this moving type actuating mechanism, makes this moving type actuating mechanism correspondence drive respectively this joint segments motion.
According to the control method of a kind of multi-jointed mechanical arm of the present invention, wherein, filter because joint segments rocks the variation of this produced angle information.
According to the control method of a kind of multi-jointed mechanical arm of the present invention, wherein, the locking of one or more this joint segments is controlled.
According to the control method of a kind of multi-jointed mechanical arm of the present invention, wherein, this movement instruction comprises: the target position information of the required movement of free end of multi-jointed mechanical arm; According to movement instruction in conjunction with these pose data, use optimized algorithm to calculate to comprise the angle of movement required for this joint segments each and speed: receive send mechanical arm free end needed for the target position information of movement, according to the maximum displacement of this free end movement, calculating respectively this joint segments should the angle of movement and speed.
In sum, the present invention measures the angle information of respectively this joint segments by arranging multiple Position and attitude sensor, moving type actuating mechanism drives the plurality of joint segments to move, motion servo controller controls the angle from movement required for each joint segments to this moving type actuating mechanism and the speed that send, makes motion servo controller, moving type actuating mechanism 6 and Position and attitude sensor 4 form mechanical arm and moves closed-loop control system.And be optimized calculating by pose processor and motion track optimization arithmetical unit, obtain angle and the speed of the required movement of each joint segments.Also just reach the automatic control to multi-jointed mechanical arm, improve the life-span of stability in the mechanical arm course of work and mechanical arm.
Accompanying drawing explanation
Figure 1 shows that the module map of the control system of multi-jointed mechanical arm of the present invention;
Figure 2 shows that the syndeton schematic diagram of multi-jointed mechanical arm;
Figure 3 shows that the schematic diagram of the syndeton of multi-jointed mechanical arm in three-dimensional coordinate system;
Figure 4 shows that another module map of the control system of multi-jointed mechanical arm of the present invention.
Embodiment
Figure 1 shows that the module map of the control system of multi-jointed mechanical arm of the present invention, the control system of multi-jointed mechanical arm comprises: motion servo controller 1, motion track optimize arithmetical unit 2, pose processor 3, multiple Position and attitude sensor 4, telechiric device 5, moving type actuating mechanism 6 and multiple joint segments 7.
As shown in Figure 1, telechiric device 5 can be optimized arithmetical unit 2 with motion track and communicates.Multiple Position and attitude sensor 4 correspondence is installed on multiple mechanical arm, and multiple Position and attitude sensor 4 is all connected with pose processor 3.Pose processor 3 connects motion track and optimizes arithmetical unit 2.Motion track is optimized arithmetical unit 2 and is connected motion servo controller 1.
Figure 2 shows that the syndeton schematic diagram of multi-jointed mechanical arm, as shown in Figure 2, multiple joint segments 7 is generally 4-6 and saves articulated mechanical arm, for 5 joint articulated mechanical arm, the syndeton of multi-jointed mechanical arm comprises: joint segments 11-15 connects successively, and one end of joint segments 11 is arranged at the centre of gyration of the pivoting support 10 of multi-jointed mechanical arm.Joint segments 11-15 successively hinging manner is fixed on the centre of gyration of a pivoting support 10.Be connected through the hinge between joint segments, each joint joint segments all can under being acted on by driving, do the revolution of 0 ~ 360 degree around the hinge connected, and can the have mercy on centre of gyration of pivoting support 10 of joint segments 11 does the revolution of 0 ~ 360 degree.Pivoting support 10 self also can do the revolution of 0 ~ 360 degree.
Figure 3 shows that the schematic diagram of the syndeton of multi-jointed mechanical arm in three-dimensional coordinate system, with reference to figure 1, Fig. 2 and Fig. 3, multiple Position and attitude sensor 4 respectively correspondence is arranged on joint segments 11-15, in order to measure the absolute angle of each joint segments, and send the absolute angle recorded to pose processor 3.The three-dimensional coordinate system XYZ that it is initial point that pose processor 3 is set up with the centre of gyration of pivoting support 10.And be the relative angle in three-dimensional coordinate system by the absolute angle corresponding conversion of each joint segments.And calculate the pose data of multiple joint segments.Pose data comprise: the rotationangleφ of the relative centre of gyration 10 of multi-jointed mechanical arm, the angle theta of joint segments 11 and surface level
1, the angle theta of joint segments 12 and surface level
2, the angle theta of joint segments 13 and surface level
3, the angle theta of joint segments 14 and surface level
4and the angle theta of joint segments 15 and surface level
5, the angle α of the joint arm of joint segments 11 and level ground
1, joint segments 12 and the joint arm of level ground angle α
2, joint segments 13 and the joint arm of level ground angle α
3, joint segments 14 and the joint arm of level ground angle α
4and the angle α of the joint arm of joint segments 15 and level ground
5.The length L of joint segments 11
1, the length L of joint segments 12
2, the length L of joint segments 13
2, the length L of joint segments 14
2and the length L of joint segments 15
2.
Motion track is optimized arithmetical unit 2 and is read mechanical arm pose data that pose processor 3 generates and the mechanical arm moving direction that telechiric device 5 sends and speed command, with the angle of movement required for each joint segments 11-14 of optimum optimization moving track calculation and speed, and the angle calculated and rate results are sent to motion servo controller 1.Motion servo controller 1 controls moving type actuating mechanism 6 according to the angle of motion track optimization arithmetical unit 2 calculating and rate results and drives each joint segments 11-15 to move.
Moving type actuating mechanism 6 can comprise: motor, gear train and oil cylinder or cylinder etc.Motor and oil cylinder are for controlling the movement of each joint segments, therefore, in above-described embodiment, pose processor 3 can utilize the length of angle between above-mentioned each joint segments and each joint segments, the length of oil cylinder that each joint segments is corresponding can also be calculated, and utilize the current location of length of oil cylinder and delta data to calculate pose data and the exercise data of each joint segments.
For a kind of embodiment, because large-scale manipulator is as concrete distributing mechanism, mechanical system characteristic causes each joint segments, in moving process, rocking in certain limit can occur, cause the absolute angle angle value of each joint segments measured by Position and attitude sensor 4 rocking and change with joint segments, but the pose that the change of this kind of angle does not represent macroscopically joint segments there occurs change.Therefore, pose processor 3 receives absolute data that the appearance state sensor 4 in each joint segments sends and carries out in processing procedure according to optimized algorithm to data, need to filter and rock produced misdata because of joint segments, and eliminate joint segments rock the impact caused.
The specific implementation that filtration rocks produced misdata because of joint segments can utilize median average filter circuit to the smoothing and filtering process of arm angle shake by pose processor 3.Pose processor 3 carries out quick continuous sampling to the absolute angle coordinate that each Position and attitude sensor 4 sends, remove a maximal value and a minimum value, then the arithmetic mean of calculating sampling data, rock produced misdata to reach to filter because of joint segments, and eliminate joint segments rock the impact caused.
Referring to figs. 1 to 4, operating personnel control telechiric device 5, only need the movement of the position of the free end 16 considering mechanical arm, free end 16 to mechanical arm send similar as advanced, retreating, rise, decline, obliquely and oblique lower degradation direction signal, guidance by sight mechanical arm free end moves to desired location.And each joint segments concrete move through motion track optimize arithmetical unit 2 calculate.
Motion track is optimized arithmetical unit 2 and is first resolved the direction of motion vector signal given by telechiric device 5, the mobile maximum displacement of motion command according to free end 16 is decomposed, utilize genetic algorithm to calculate the moving interpolation needed for each joint segments successively, obtain the direction of motion of each joint segments in least displacement step-length and velocity magnitude.Namely motion track optimization arithmetical unit 2 can by constantly carrying out interative computation to least displacement step-length, and final manipulator motion track is least displacement iteration sum.Manipulator motion data matrix under final acquisition least displacement step-length.Motion servo controller 3 according to kinematic matrix Data Control moving type actuating mechanism 6, to realize the movement of mechanical arm.
In one embodiment, the moving direction of the free end 16 that telechiric device 5 exports and velocity magnitude signal, it is the switching signal that motion track optimizes whether arithmetical unit 2 starts least displacement iteration accumulating operation, namely as telechiric device 5 does not send moving direction and velocity magnitude signal, then motion track is optimized arithmetical unit 2 and is namely interrupted computing, simultaneously manipulator motion servo controller 3 also order moving type actuating mechanism 6 stop action.
Suppose that telechiric device 5 is for cross rocking bar telechiric device, the X-direction in the direction of rocking bar and Y-direction, be respectively used to the direction of quadrant X-axis and Y-axis in corresponding control chart 3, when cross rocking bar telechiric device change controlling party to, as cross rocking bar from the slippage of X forward to X-axis forward and Y-axis forward form any direction quadrant, then motion track optimizes arithmetical unit 2 after the X-axis forward completing mechanical arm moves last least displacement computing, forwards the least displacement step-length computing direction after change being carried out rectilinear motion immediately to.
Figure 4 shows that another module map of the control system of multi-jointed mechanical arm of the present invention, as shown in Figure 4, telechiric device 5 communicates with receiver of remote-control sytem 8.Receiver of remote-control sytem 8, Position and attitude sensor 4, pose processor 3 and mobile arithmetical unit 2 of optimizing all are connected by data bus 9.
As shown in Figure 4, telechiric device 5 sends movement and the direction control signal of mechanical arm.Receiver of remote-control sytem 8 receives this and moves and direction control signal.Position and attitude sensor 4 records the absolute angle of each joint segments.Pose processor 3 receives the absolute angle of each joint segments 11-15 by data bus 9, the three-dimensional coordinate system that it is initial point that pose processor 3 is set up with the centre of gyration of pivoting support 10, and be the relative angle in three-dimensional coordinate system by the absolute angle corresponding conversion of each joint segments.Motion track optimization arithmetical unit 2 receives the relative angle in the three-dimensional coordinate system of movement and direction control signal and each joint segments by data bus 9, with the angle of movement required for each joint segments of optimum optimization moving track calculation and speed.Motion track is optimized arithmetical unit 2 and the angle of movement required for each joint segments and velocity information is sent to motion servo controller 1.Motion servo controller 1 pair of moving type actuating mechanism transmits control signal, control moving type actuating mechanism 6 according to control signal, control pivoting support 10, joint segments 11, joint segments 12, joint segments 13, joint segments 14 and joint segments 15 respectively, according to the steadily movement to target location of preferred mobile scheme controller mechanical arm.
Wherein, the telechiric device 5 in above-described embodiment can make the hardware of the appropriate signal of rocking bar control device, computing machine or outbound course.
Wherein, the Position and attitude sensor 3 in above-described embodiment can be absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor etc.
As Figure 1-4, sometimes, the barrier of interfering the motion of mechanical joint section may be there is in space residing for mechanical arm, in this environment for use, operator can pass through telechiric device 5, lock the locus of a certain joint segments or several joint segments as the case may be, when operator changes the position of mechanical arm free end 16, motion track optimizes arithmetical unit 2 by constant for the locus first kept by locking a joint segments, according to the calculating carrying out mechanical arm optimum optimization motion track and the control that there is no the joint segments locked, such as lock joint segments 11 and 12 constant, now, only need the position calculating the required movement of joint segments 13-15.
Saving problem crucial in synkinetic Automated condtrol at multi-arm is exactly solving of the inverse motion of mechanical arm, mechanical arm can being reduced to one group of control problem with multi-redundant mechanical arm to solve, namely solving an equation by inverting and Minimum-Norm Method solves the inverse motion often saving mechanical arm.Minimum-Norm Method can ensure while completing and moving to intended target, keeps the continuous and stable of each articulation structure and the accekeration in each joint is less, therefore adopts Minimum-Norm Method to solve the inverse motion of mechanical arm.
By above method, the trajectory calculation and the control that mechanical arm are moved to intended target can be realized.And the speed of opening or reduce of each joint joint segments is carried out independence calculating and controlled, ensure that the stable of arm support tail end track translational speed.In mechanical arm moving process, often save joint segments to change along with disconnected generation the in joint segments locus relative to the arm of force of joint driving mechanism, above-described embodiment adjusts the driving force often saving joint segments in real time, and ensureing often to save joint segments translational speed, to optimize according to motion track the result of calculation that arithmetical unit draws consistent.
Invention additionally provides a kind of control method of multi-jointed mechanical arm, the control system of above-mentioned multi-jointed mechanical arm can be utilized to realize, and the control method of multi-jointed mechanical arm comprises:
Measure the angle information of respectively this mechanical arm;
Set up the three-dimensional coordinate system being initial point with the centre of gyration of mechanical arm, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of multiple joint segments;
According to movement instruction in conjunction with these pose data, optimized algorithm is used to calculate angle to movement required for this joint segments each and speed;
The angle of movement required for this joint segments each and speed, control this moving type actuating mechanism, makes this moving type actuating mechanism correspondence drive respectively this joint segments motion.
Wherein, the control method of multi-jointed mechanical arm can also comprise, and filters because joint segments rocks the variation of produced angle information.
Wherein, the control method of multi-jointed mechanical arm can also comprise, and controls the locking of one or more this joint segments, controls the joint segments motion of all the other non-lockings.
Above-mentioned movement instruction comprises: the target position information of the required movement of free end of multi-jointed mechanical arm.
Above-mentioned according to movement instruction in conjunction with these pose data, use optimized algorithm to calculate to comprise the angle of movement required for this joint segments each and speed: receive send mechanical arm free end needed for the target position information of movement, according to the maximum displacement of this free end movement, calculating respectively this joint segments should the angle of movement and speed.
In sum, the present invention adopts minimum step mode to control the beat speed of arm support tail end movement, the angle information of respectively this joint segments is measured by arranging multiple Position and attitude sensor, moving type actuating mechanism drives the plurality of joint segments to move, motion servo controller controls the angle from movement required for each joint segments to this moving type actuating mechanism and the speed that send, makes motion servo controller, moving type actuating mechanism and Position and attitude sensor form mechanical arm and moves closed-loop control system.And be optimized calculating by pose processor and motion track optimization arithmetical unit, obtain angle and the speed of the required movement of each joint segments.Also just reach the automatic control to multi-jointed mechanical arm, improve the life-span of stability in the mechanical arm course of work and mechanical arm.
Although exemplary embodiment describe the present invention with reference to several, should be appreciated that term used illustrates and exemplary and nonrestrictive term.Spirit of the present invention or essence is not departed from because the present invention can specifically implement in a variety of forms, so be to be understood that, above-described embodiment is not limited to any aforesaid details, and should explain widely in the spirit and scope that claims limit, therefore fall into whole change in claim or its equivalent scope and remodeling and all should be claims and contained.
Claims (12)
1. a control system for multi-jointed mechanical arm, this multi-jointed mechanical arm comprises pivoting support and multiple joint segments, and the plurality of joint segments connects successively, and one end of the plurality of joint segments is arranged at the centre of gyration of this pivoting support, it is characterized in that, this control system comprises:
Telechiric device, for sending movement instruction to this multi-jointed mechanical arm;
Moving type actuating mechanism, is connected with the plurality of joint segments, moves for driving the plurality of joint segments;
Multiple Position and attitude sensor, correspondence is installed in the plurality of joint segments, for measuring the angle information of respectively this joint segments;
Pose processor, be connected with the plurality of Position and attitude sensor, described pose processor receives this angle information that the plurality of Position and attitude sensor sends, and set up the three-dimensional coordinate system being initial point with the centre of gyration of this pivoting support, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of the plurality of joint segments;
Motion track optimizes arithmetical unit, for obtaining these pose data of this pose processor, and according to this movement instruction in conjunction with these pose data, uses optimized algorithm to calculate angle to movement required for this joint segments each and speed;
Motion servo controller, for according to the angle of this joint segments movement and speed, controls this moving type actuating mechanism, makes this moving type actuating mechanism correspondence drive respectively this joint segments motion.
2. the control system of multi-jointed mechanical arm as claimed in claim 1, it is characterized in that, this movement instruction is the direction of motion vector speed of this mechanical arm tail end.
3. the control system of multi-jointed mechanical arm as claimed in claim 1, it is characterized in that, this Position and attitude sensor is absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor.
4. the control system of multi-jointed mechanical arm as claimed in claim 1, it is characterized in that, this pose processor is and filtering process smoothing to this angle information also.
5. the control system of multi-jointed mechanical arm as claimed in claim 1, is characterized in that, this telechiric device can control the locking of one or more this joint segments.
6. as weighed the control system of the multi-jointed mechanical arm as described in 5, it is characterized in that, this motion track optimizes arithmetical unit according to the joint segments calculation optimization path not having to lock.
7. the control system of multi-jointed mechanical arm as claimed in claim 1, is characterized in that, this motion track is optimized arithmetical unit and used optimized algorithm to calculate to comprise the angle of movement required for this joint segments each and speed:
This motion track optimizes the target location that arithmetical unit receives required movement of free end of this multi-jointed mechanical arm that this telechiric device sends, and according to the maximum displacement of this free end movement, calculating respectively this joint segments should the angle of movement and speed.
8. the control system of multi-jointed mechanical arm as claimed in claim 7, is characterized in that, solves an equation and Minimum-Norm Method solves the inverse motion often saving mechanical arm by inverting.
9. a control method for multi-jointed mechanical arm, this multi-jointed mechanical arm comprises: multiple joint segments, and the plurality of joint segments connects successively, and one end of the plurality of joint segments is arranged at the pivoting support of multi-jointed mechanical arm; It is characterized in that, this control method comprises:
Measure the angle information of respectively this mechanical arm;
Set up the three-dimensional coordinate system being initial point with the centre of gyration of mechanical arm, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of multiple joint segments;
According to movement instruction in conjunction with these pose data, optimized algorithm is used to calculate angle to movement required for this joint segments each and speed;
The angle of movement required for this joint segments each and speed, control this moving type actuating mechanism, makes this moving type actuating mechanism correspondence drive respectively this joint segments motion.
10. the control method of multi-jointed mechanical arm as claimed in claim 9, is characterized in that, filters because joint segments rocks the variation of this produced angle information.
The control method of 11. multi-jointed mechanical arms as claimed in claim 9, is characterized in that, controls the locking of one or more this joint segments.
The control method of 12. multi-jointed mechanical arms as claimed in claim 9, it is characterized in that, this movement instruction comprises: the target position information of the required movement of free end of multi-jointed mechanical arm;
According to movement instruction in conjunction with these pose data, use optimized algorithm to calculate and the angle of movement required for this joint segments each and speed comprised:
Receive the target position information of required movement of the free end sending mechanical arm, according to the maximum displacement of this free end movement, calculating respectively this joint segments should the angle of movement and speed.
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| CN107263469A (en) * | 2017-05-25 | 2017-10-20 | 深圳市越疆科技有限公司 | mechanical arm posture compensation method, device, storage medium and mechanical arm |
| CN108311340A (en) * | 2018-02-01 | 2018-07-24 | 普洛赛斯（苏州）智能装备有限公司 | A kind of manipulator control system and its working method for dispensing coating machine |
| CN109164833A (en) * | 2018-08-14 | 2019-01-08 | 北京和光飞翼机电科技有限公司 | A kind of angle control system being automatically adjusted and its control method |
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