CN106272445A - A kind of learning-oriented multi-degree-of-freemechanical mechanical arm and its control method - Google Patents
A kind of learning-oriented multi-degree-of-freemechanical mechanical arm and its control method Download PDFInfo
- Publication number
- CN106272445A CN106272445A CN201610884868.1A CN201610884868A CN106272445A CN 106272445 A CN106272445 A CN 106272445A CN 201610884868 A CN201610884868 A CN 201610884868A CN 106272445 A CN106272445 A CN 106272445A
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- China
- Prior art keywords
- mechanical arm
- control
- remote
- action
- eeprom memory
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses a kind of learning-oriented multi-degree-of-freemechanical mechanical arm and control method thereof, this mechanical arm includes upper arm, underarm, mechanical hand, controller and remote-control handle, described upper arm, the joint of underarm and mechanical hand uses seven simulation steering wheels as driving element, described controller includes microprocessing unit, EEPROM memory cell, remote-control-signal reception unit and power subsystem, described EEPROM memory cell is connected with microprocessing unit, described remote-control-signal reception unit is connected with microprocessing unit, described seven simulation steering wheels are connected with microprocessing unit, described power subsystem is to EEPROM memory cell, microprocessing unit, remote-control-signal reception unit and seven simulation steering wheels are powered, simplify operation easier without carrying out the programming operation of complexity；Remote control mode low speed can be iterated through enlighten mechanical arm by education and complete operation task；Mode at full speed can be used to play back a whole set of complete action.
Description
Technical field
The invention belongs to technical field of automation, particularly to the research of a kind of learning-oriented multi-degree-of-freemechanical mechanical arm.
Background technology
The important equipment that industrial robot (mechanical arm) is indispensable as having become as industrial circle at present, promotes industry
Automatization and the development of advanced manufacturing technology.At present, industrial robot is widely used to commercial production, machine-building, boat
Each big fields such as empty space flight, the most progressively instead of tradition workman's in the field needing a large amount of duplications of labour and high precision manipulation
Role.Except, in addition to the extensive application of industrial circle, mechanical arm also progresses into civil area.The desktop of existing numerous models
Mechanical arm platform enters into our visual field.Tabletop machine mechanical arm platform can complete simple article carrying, part assembling, experiment
The work such as operation, when precision is sufficient for sb.'s need, can complete the operations such as 3D printing and laser engraving.Following desktop type machine
Mechanical arm necessarily will become the important aid of people's daily life.
Summary of the invention
Purpose of the present invention help desk mechanical arm by the way of simple and fast grasps a whole set of compound action, and can realize
The repetitive operation of action.This mechanical arm platform is used to avoid programming Control mode for operator's Professional knowledge and technical ability relatively
High request.All the time handle remote controller also without operator and complete each action to control mechanical arm.When completing mechanical arm
Enlighten by education after, mechanical arm platform just can be iteratively repeated this action.
To achieve these goals, the present invention adopts the following technical scheme that a kind of learning-oriented multi-degree-of-freemechanical mechanical arm, including
Upper arm, underarm, mechanical hand, controller and remote-control handle, the joint of described upper arm, underarm and mechanical hand uses seven simulation steering wheels
As driving element, described controller includes microprocessing unit, EEPROM memory cell, remote-control-signal reception unit and power supply list
Unit, described EEPROM memory cell is connected with microprocessing unit, and described remote-control-signal reception unit is connected with microprocessing unit, institute
Stating seven simulation steering wheels to be connected with microprocessing unit, described power subsystem is to EEPROM memory cell, microprocessing unit, remote control letter
Number receive unit and seven simulation steering wheels power.
Further, described microprocessing unit uses the single-chip microcomputer of MSP430F5529 model.
Further, described EEPROM memory cell uses model to be the eeprom memory of AT24C256.
The enlightenment methods of a kind of mechanical arm, completes for the learning-oriented multi-degree-of-freemechanical mechanical arm controlled described in claim 2
The action of regulation, comprises the steps:
(1) described mechanical arm initializes, and described controller is responsible for receiving the control command from remote-control handle, and according to controlling life
Order produces seven road PWM ripple signals for controlling the anglec of rotation of seven steering wheels, completes compulsory exercise controlling mechanical arm；Described control
Device processed uses fixed cycle mode to sample the anglec of rotation of seven steering wheels, first records data in depositing at random of single-chip microcomputer
In access to memory；
(2) when the action of mechanical arm reaches the requirement of compulsory exercise, described remote-control handle sends control instruction control single chip computer
Will be stored in the data in random access memory and be written to the medium-term and long-term preservation of EEPROM memory cell, perform step (3)；Work as machine
When the action of mechanical arm is not reaching to the requirement of compulsory exercise, described remote-control handle sends initialization control instruction, described single-chip microcomputer
Control mechanical arm to initialize, perform step (1)；
(3) when needs play back this action, described remote-control handle send playback controls instruction, described single-chip microcomputer again by data from
EEPROM memory cell is read in random access memory and controls mechanical arm with necessarily according to the rotation angle information in data
Speed reproduction entire exercise, if need not play back this action, then Single-chip Controlling mechanical arm initialize.
Further, step (3) described controller requires to set playback speed according to playback speed, it is ensured that action completes
Speed and required precision.
The control method of a kind of mechanical arm, described remote-control handle sends mode of operation control instruction, and described controller receives
Instructing and perform corresponding mode of operation, the mode of operation of described mechanical arm includes that remote control mode of operation, simple motion learn mould
Formula and compound action learning model；Under remote control mode of operation, by remote-control handle wireless remote control Single-chip Controlling mechanical arm with
Complete the action of regulation；Under simple motion learning model, by the enlightenment methods of mechanical arm, complete regulation controlling mechanical arm
Action and can reappearing；Under compound action learning model, compound action is decomposed into some sections of simple motions, then according to machine
The enlightenment methods of mechanical arm completes every section of simple motion, finally the rotation angle information of each section of simple motion is sequentially stored in
In EEPROM memory cell, described controller sequentially reads every section of rotation angle information to carry out the reproduction of compound action.
Compared with prior art, the invention has the beneficial effects as follows the programming behaviour simplifying operation easier without carrying out complexity
Make；Remote control mode low speed can be iterated through enlighten mechanical arm by education and complete operation task；Mode at full speed can be used to play back a whole set of complete
Action.
Accompanying drawing explanation
Fig. 1 is the structure chart of the learning-oriented multi-degree-of-freemechanical mechanical arm in the present invention；
Fig. 2 is the theory structure schematic diagram of the controller in the present invention；
Fig. 3 is the embodiment circuit connection diagram of the controller in the present invention；
Fig. 4 is the embodiment circuit connection diagram of the EEPROM memory cell in the present invention；
Fig. 5 is the flow chart of the enlightenment methods of mechanical arm in the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described further, so that being more understood that the wound of the present invention
Make a place.
Embodiment 1 is as it is shown in figure 1, a kind of learning-oriented multi-degree-of-freemechanical mechanical arm, including upper arm, underarm, mechanical hand, control
Device and remote-control handle, the joint of described upper arm, underarm and mechanical hand uses seven simulation steering wheels, and as driving element, (this is characterized as
Prior art, those skilled in the art are readily available upper arm, underarm and mechanical hand matching relationship), as in figure 2 it is shown, described controller
Including microprocessing unit, EEPROM memory cell, remote-control-signal reception unit and power subsystem, described EEPROM memory cell with
Microprocessing unit connects, and described remote-control-signal reception unit is connected with microprocessing unit, described seven simulation steering wheels and micro-process
Unit connects, and described power subsystem is to EEPROM memory cell, microprocessing unit, remote-control-signal reception unit and seven simulation rudders
Machine is powered.Preferably, as it is shown on figure 3, described microprocessing unit uses the single-chip microcomputer of MSP430F5529 model；Described EEPROM
Memory element uses model to be the eeprom memory of AT24C256,4 I/O ports of this single-chip microcomputer (P6.0, P6.1, P6.2,
P6.3) respective pin with remote-control-signal reception unit is attached, and this group port completes the reception task of remote-control data；This is single
Seven I/O ports (P1.2, P1.5, P1.3, P1.4, P2.0, P2.4, P2.5) of sheet machine are single-chip microcomputer timer output end, with machine
Seven steering wheel FPDPs of mechanical arm are connected, it is provided that corresponding PWM ripple signal is used for controlling steering wheel and completes spinning movement；This is single
2 I/O ports (P3.0, P3.1) of sheet machine are single-chip microcomputer I2C COM1, and (model is with EEPROM memory cell respectively
The eeprom memory of AT24C256) FPDP (SDA) be connected with clock port (SCL), it is achieved the read-write of data behaviour
Make.As shown in Figure 4, model be the address port (A1, A0) of eeprom memory of AT24C256 and write-protect port (WP) equal
Ground connection, therefore the I2C address of memorizer is " 00 ", eliminates write-protect operation, VCC, SCL, SDA and GND is drawn out to respectively
Wiring port P0, is attached with single-chip microcomputer, powers for eeprom memory and realizes I2C communication.
As it is shown in figure 5, the enlightenment methods of a kind of mechanical arm, for controlling the learning-oriented multi freedom degree mechanical in embodiment 1
Arm completes the action of regulation, comprises the steps:
(1) described mechanical arm initializes, and described controller is responsible for receiving the control command from remote-control handle, and according to controlling life
Order produces seven road PWM ripple signals for controlling the anglec of rotation of seven steering wheels, completes compulsory exercise controlling mechanical arm；Described control
Device processed uses fixed cycle (100ms) mode to sample the anglec of rotation of seven steering wheels, first records data in single-chip microcomputer
Random access memory corresponding two-dimensional array in；
(2) when the action of mechanical arm reaches the requirement of compulsory exercise, described remote-control handle sends control instruction control single chip computer
Will be stored in the data in the corresponding two-dimensional array of random access memory and be written to the medium-term and long-term preservation of EEPROM memory cell,
Perform step (3)；When the action of mechanical arm is not reaching to the requirement of compulsory exercise, described remote-control handle sends initialization control
Instruction, described Single-chip Controlling mechanical arm initializes, and performs step (1)；
(3) when needs play back this action, described remote-control handle send playback controls instruction, described single-chip microcomputer again by data from
In the corresponding two-dimensional array of EEPROM memory cell reading random access memory and according to the anglec of rotation in two-dimensional array
Information controls mechanical arm and reappears entire exercise with certain speed, such as full speed (50ms), if need not play back this action, then list
Sheet machine controls mechanical arm and initializes.
Preferably, during step (1) described remote manipulation, use low speed mode, so that each action of mechanical arm has
Plenty of time has gone, it is ensured that the required precision of action.
Preferably, step (3) described controller requires to set playback speed according to playback speed, it is ensured that action completes
Speed and required precision.
The control method of 2 one kinds of mechanical arms of embodiment, enlightenment methods based on above-mentioned mechanical arm, described remote-control handle is sent out
Going out mode of operation control instruction, described controller receives instruction and performs corresponding mode of operation, the Working mould of described mechanical arm
Formula includes remote control mode of operation, simple motion learning model and compound action learning model；Under remote control mode of operation, by distant
Control handle wireless remote control Single-chip Controlling mechanical arm is to complete the action of regulation；Under simple motion learning model, by machinery
The enlightenment methods of arm, completes compulsory exercise and can reappear controlling mechanical arm；Under compound action learning model, by complexity
Decomposition of movement is some sections of simple motions, then completes every section of simple motion, finally by each section according to the enlightenment methods of mechanical arm
The rotation angle information of simple motion is sequentially stored in EEPROM memory cell, and described controller sequentially reads every section of anglec of rotation
Degree information is to carry out the reproduction of compound action.
The heretofore described case that is embodied as is only the preferable case study on implementation of the present invention, is not used for limiting this
Bright practical range.The most all equivalence changes made according to the content of scope of the present invention patent and modification, all should be used as this
Bright technology category.
Claims (6)
1. a learning-oriented multi-degree-of-freemechanical mechanical arm, it is characterised in that include upper arm, underarm, mechanical hand, controller and remote control hands
Handle, the joint of described upper arm, underarm and mechanical hand uses seven simulation steering wheels as driving element, and described controller includes micro-place
Reason unit, EEPROM memory cell, remote-control-signal reception unit and power subsystem, described EEPROM memory cell processes list with micro-
Unit connects, and described remote-control-signal reception unit is connected with microprocessing unit, and described seven simulation steering wheels are connected with microprocessing unit,
Described power subsystem is powered to EEPROM memory cell, microprocessing unit, remote-control-signal reception unit and seven simulation steering wheels.
A kind of learning-oriented multi-degree-of-freemechanical mechanical arm the most as claimed in claim 1, it is characterised in that described microprocessing unit uses
The single-chip microcomputer of MSP430F5529 model.
A kind of learning-oriented multi-degree-of-freemechanical mechanical arm the most as claimed in claim 2, it is characterised in that described EEPROM memory cell
Using model is the eeprom memory of AT24C256.
4. an enlightenment methods for mechanical arm, completes rule for the learning-oriented multi-degree-of-freemechanical mechanical arm controlled described in claim 2
Fixed action, it is characterised in that comprise the steps:
(1) described mechanical arm initializes, and described controller is responsible for receiving the control command from remote-control handle, and according to control
Order produces seven road PWM ripple signals for controlling the anglec of rotation of seven steering wheels, completes compulsory exercise controlling mechanical arm；Described
Controller uses fixed cycle mode to sample the anglec of rotation of seven steering wheels, first records data in the random of single-chip microcomputer
In access memorizer；
(2) when the action of mechanical arm reaches the requirement of compulsory exercise, described remote-control handle sends control instruction control single chip computer
Will be stored in the data in random access memory and be written to the medium-term and long-term preservation of EEPROM memory cell, perform step (3)；Work as machine
When the action of mechanical arm is not reaching to the requirement of compulsory exercise, described remote-control handle sends initialization control instruction, described single-chip microcomputer
Control mechanical arm to initialize, perform step (1)；
(3) when needs play back this action, described remote-control handle send playback controls instruction, described single-chip microcomputer again by data from
EEPROM memory cell is read in random access memory and controls mechanical arm with necessarily according to the rotation angle information in data
Speed reproduction entire exercise, if need not play back this action, then Single-chip Controlling mechanical arm initialize.
5. the control method for enlightening mechanical arm by education described in claim 4, it is characterised in that step (3) described controller can
Require to set playback speed according to playback speed, it is ensured that speed that action completes and required precision.
6. the control method of kind of mechanical arm, enlightenment methods based on the mechanical arm described in claim 4, it is characterised in that institute
Stating remote-control handle and send mode of operation control instruction, described controller receives instruction and performs corresponding mode of operation, described machine
The mode of operation of mechanical arm includes remote control mode of operation, simple motion learning model and compound action learning model；Work in remote control
Under pattern, by remote-control handle wireless remote control Single-chip Controlling mechanical arm to complete the action of regulation；Mould is learnt at simple motion
Under formula, by the enlightenment methods of mechanical arm, complete compulsory exercise and can reappear controlling mechanical arm；Learn at compound action
Under pattern, compound action is decomposed into some sections of simple motions, then the enlightenment methods of foundation mechanical arm completes every section and simply moves
Making, finally the rotation angle information of each section of simple motion be sequentially stored in EEPROM memory cell, described controller is sequentially
Read every section of rotation angle information to carry out the reproduction of compound action.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884868.1A CN106272445B (en) | 2016-10-11 | 2016-10-11 | A kind of enlightenment methods and its control method of learning-oriented multi-degree-of-freemechanical mechanical arm |
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|---|---|---|---|
| CN201610884868.1A CN106272445B (en) | 2016-10-11 | 2016-10-11 | A kind of enlightenment methods and its control method of learning-oriented multi-degree-of-freemechanical mechanical arm |
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| CN106272445A true CN106272445A (en) | 2017-01-04 |
| CN106272445B CN106272445B (en) | 2018-11-13 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000519A (en) * | 2017-11-24 | 2018-05-08 | 中国船舶重工集团公司第七〇九研究所 | One kind perceives memory-type mechanical arm and its application method |
| CN111390897A (en) * | 2020-04-20 | 2020-07-10 | 重庆缇帅科技有限公司 | Small-sized desktop six-degree-of-freedom mechanical arm |
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| Publication number | Publication date |
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| CN106272445B (en) | 2018-11-13 |
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