CN106476012A - A kind of new auxiliary mechanical arm control system and its control method - Google Patents
A kind of new auxiliary mechanical arm control system and its control method Download PDFInfo
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- CN106476012A CN106476012A CN201610906933.6A CN201610906933A CN106476012A CN 106476012 A CN106476012 A CN 106476012A CN 201610906933 A CN201610906933 A CN 201610906933A CN 106476012 A CN106476012 A CN 106476012A
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- mechanical arm
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- oil cylinder
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a kind of new auxiliary mechanical arm control system and its control method, including master lever and master controller, the input of described master controller connects analogue collection module and digital data acquisition module, its outfan is provided with analog output module, described master lever and analogue collection module, digital data acquisition module is connected, the analog quantity of described analog output module output sends multiple hydraulic efficiency servo-valves to after amplifying by servo amplifier, described multiple hydraulic efficiency servo-valves control auxiliary mechanical arm motion, and the signal of the limit sensors collection on the angling cylinder of auxiliary mechanical arm feeds back to master controller, linear displacement transducer collection signal on the oscillating oil cylinder of auxiliary mechanical arm feeds back to master controller, main control its further according to feedback signal precise control is carried out to auxiliary mechanical arm.
Description
Technical field
The present invention relates to distribution network live line work field, specifically, it is a kind of to be related to the auxiliary of robot for high-voltage hot-line work
Help mechanical arm controller and its control method, be mainly used in using cooperatively with mechanical arm, complete the replacing in power distribution live-wire
The heavy duty job task such as cross-arm, transformator.
Background technology
The gentle safety of Automated water in order to improve livewire work, mitigates labor intensity and the strong-electromagnetic field of operator
Person threat to operator, from the eighties, many countries have all successively carried out the research of hot line robot, such as day
The country such as basis, Spain, the U.S., Canada, France has successively carried out the research to hot line robot.China in 2002
Carry out the development of robot for high-voltage hot-line work commercialization model machine.
Hot line robot, through years of researches and practice, completes the development of laboratory prototype, by substantial amounts of
Field test, demonstrates demand in live working of distribution network for the robot and value, and also demonstrate research approach can simultaneously
Row, the reasonability of design.But robot manipulating task content is more single, it is mostly using double mechanical arms master-slave control method, no
Whole live working of distribution network projects can be covered, robot can not carry out operation under complicated line environment, therefore with power distribution network
There is gap in the produce reality of livewire work.It is thus desirable to develop prudent greatly/from anharmonic ratio auxiliary mechanical arm, be robot increase auxiliary
Help prudent greatly auxiliary mechanical arm, thus completing to change the heavily loaded job task such as cross-arm, transformator.
Prudent greatly hydraulic pressure auxiliary mechanical arm research is also one of focus of robot research always, common in the world at present
Industrial robot load ratio is 1：Less than 10.By line environment and aerial lift device with insulated arm constraint it is desirable to table-top integrally weighs
Amount can not be excessive, at present typically in 500～600Kg.According to research experience, within auxiliary mechanical arm should be limited in 100Kg, therefore
Require auxiliary mechanical arm should reach 3:1 about top load ratio, and ensure that system has enough rigidity, to ensure end control
Precision and stability processed.Existing Aided Machine arm configuration is simple, and control mode mostly adopts hydraulic valve Non-follow control, without
Position sensor, so position precise control can not be carried out.
Content of the invention
For solve prior art exist deficiency, the invention discloses a kind of control system of new auxiliary mechanical arm and its
Control method, this control system completes 10kV distribution line using the arm that master-slave control method replaces people and changes cross-arm, replacing
The heavy duty job task such as transformator.
For achieving the above object, the concrete scheme of the present invention is as follows：
The control system of prudent greatly hydraulic pressure auxiliary mechanical arm, including master lever and master controller, described master controller
Input connect analogue collection module and digital data acquisition module, its outfan is provided with analog output module, described
Master lever is connected with analogue collection module, digital data acquisition module, the analog quantity that described analog output module exports
Multiple hydraulic efficiency servo-valves are sent by servo amplifier to, described multiple hydraulic efficiency servo-valves control auxiliary mechanical arm fortune after amplifying
Dynamic, and the signal of the limit sensors collection on the angling cylinder of auxiliary mechanical arm feeds back to master controller, auxiliary mechanical arm
On oscillating oil cylinder linear displacement transducer collection signal feed back to master controller, main control its further according to feedback signal to auxiliary
Mechanical arm carries out precise control.
Further, described auxiliary mechanical arm, including base, large arm, forearm and paw, is provided with described base
One swing hydraulic pressure oil cylinder, the 180 degree rotation in the horizontal plane of swing hydraulic pressure hydraulic oil cylinder driving large arm base, described large arm base with
Large arm is passed through joint II and is connected, and the hinged one pitching oil cylinder I driving large arm to do elevating movement on large arm base, and described is big
The hinged perpendicular forearm of joint III is passed through in the end of arm, and described forearm does pitching fortune under the driving of pitching oil cylinder II
Dynamic；In the end of forearm, one paw is connected by joint IV.
Further, described master lever has two freedoms of motion of X, Y, can carry out the motor control of X, Y-direction simultaneously
Signal output；Master lever X degree of freedom controls the joint II of auxiliary mechanical arm；Master lever Y degree of freedom controls auxiliary mechanical arm
Joint III, so that it is guaranteed that before and after the level of mechanical arm tail end and vertical up-or-down movement.
Further, described swing hydraulic pressure cylinder upper end is connected with large arm base, and described oscillating oil cylinder can be in horizontal plane
Rotate in the range of interior 0～180 degree.
Further, described large arm base one end is connected with swing hydraulic pressure oil cylinder, and the other end is connected with large arm, and pitching oil
Cylinder I base is fixed on large arm base；The piston rod of pitching oil cylinder I drives large arm to do elevating movement.
Further, described pitching oil cylinder I carries linear displacement transducer I, and it passes through servo valve precise control large arm
Elevating movement.
Further, described pitching oil cylinder II carries linear displacement transducer II, and it passes through servo valve precise control forearm
Elevating movement.
Using the control method of the large arm to auxiliary mechanical arm for the described control system, the pendulum angle of forearm, as follows：
The analog data output of master lever inputs to master controller as control instruction；Main controller controls mechanical arm
Motion；The moving displacement of mechanical arm feeds back to master controller, linear displacement transducer I, straight line position by linear displacement transducer
The data of the collection of displacement sensor II calculates servo valve driving data respectively through attitude analytical algorithm after entering master controller
Servo valve I, servo valve II is driven to make joint II, joint III move to angle, θ1、θ2, master controller is by controlling the stream of servo valve
Amount, to control the action displacement of hydraulic actuator, finally realizes the position servo control to mechanical arm.
Described attitude analytical algorithm is specific as follows:
If big arm lengths are a1, forearm be a2, joint II, joint III joint shaft parallel, the anglec of rotation of joint II
Spend for θ1；The anglec of rotation of joint III is θ2；With pedestal for coordinate system for { A }；Joint III be located coordinate for coordinate system be
{B}；First solve position in base coordinate system { A } for the mechanical arm tail end, then solve θ again1、θ2Size.
Specific as follows：
Step (1) set position in coordinate system { A } for the mechanical arm tail end as
Step (2) tries to achieve position in coordinate system { B } for the mechanical arm tail end by known conditions
Step (3) is joint II, the large arm base of joint III, large arm, forearm establishment of coordinate system 3 × 3 homogeneous transformation matrixRepresent the relation with previous part coordinates system；From known conditionsWherein：
Step (4) can be obtained by step (1), (2), (3)：
Step (5) is tried to achieve：
Step (6) tries to achieve position in coordinate system { A } for the mechanical arm tail endAccording to the long a of mechanical armed lever1、a2With
Position in coordinate system { A } for the mechanical arm tail end, you can obtain corresponding θ1And θ2, solve：
Above-mentioned All represent intermediate parameters.
Beneficial effects of the present invention：
1. the prudent greatly hydraulic pressure auxiliary mechanical arm control system of designed, designed of the present invention experiments verify that, replaces the arm of people
Complete 10kV distribution charged for replacement cross-arm, transformator heavy duty task.
2. auxiliary mechanical arm control system can realize large arm pitching and forearm pitching two-axle interlocking, and end can carry out generation
Boundary's coordinate system motion.
3. a kind of new control algolithm of Control System Design, algorithm is realized simple, it is to avoid using complicated kinesiology
Positive and negative resolving Algorithm.
4., using ripe PLC, its strong antijamming capability, fault rate is low for the system master controller, and compatible C
Programming with Pascal Language, can carry out the floating-point operation function of complexity, such as：Arithmetical operation, logical operationss and trigonometric function.
Brief description
Fig. 1 is auxiliary mechanical arm structure chart of the present invention；
Fig. 2 is present configuration principle general diagram；
Fig. 3 is the mechanical arm configuration figure of plane two-freedom series connection of the present invention；
Fig. 4 is auxiliary mechanical arm control flow chart of the present invention；
Fig. 5 (1), Fig. 5 (2), Fig. 5 (3), Fig. 5 (4) are master lever schematic diagrams of the present invention；
In figure:1 base, 2 oscillating oil cylinders, 3 large arm bases, 4 big arm cylinders, 5 large arm, 6 forearm oil cylinders, 7 forearms, 8 paws,
9 joint I, 10 joint II, 11 joint III, 12 joint IV.
Specific embodiment：
The present invention is described in detail below in conjunction with the accompanying drawings：
The mechanical arm that the present invention is controlled includes base, large arm, forearm and paw, is provided with a liquid on described base
Pressure oscillating oil cylinder, the 180 degree rotation in the horizontal plane of swing hydraulic pressure hydraulic oil cylinder driving large arm base, described large arm base is led to large arm
Cross joint II10 to be connected, and on large arm base hinged one drive large arm to be the pitching oil cylinder I of elevating movement, described large arm
The hinged perpendicular forearm of joint III11 is passed through in end, and described forearm does elevating movement under the driving of pitching oil cylinder II；
In the end of forearm, one paw is connected by joint IV12.
Specific reference to Fig. 1, the livewire work auxiliary mechanical arm that the control system of the present invention is directed to, including base 1, put
Dynamic oil cylinder 2, large arm base 3, big arm cylinder 4, large arm 5, forearm oil cylinder 6, forearm 7, paw 8.
Oscillating oil cylinder 2 is connected by screw on base 1, and large arm base 3 passes through screw one end and connects with oscillating oil cylinder 2 even
It is connected together, the other end connects and is connected with large arm 5, and big arm cylinder 4 is connected to big arm cylinder seat 3 by screw one end, another
End is connected in large arm 5, and forearm 7 passes through screw and large arm 5 links together, and forearm oil cylinder 6 is connected to greatly by screw one end
On arm 5, the other end is connected on forearm 7, and paw 8 is connected by screw on forearm 7.Wherein joint I9 refers to oscillating oil cylinder
2 with the rotary joint of large arm base 3；Described large arm base is connected by joint II10 with large arm；The end of described large arm
By the hinged perpendicular forearm of joint III11；The end of forearm connects a paw by joint IV12.
Further, swing hydraulic pressure cylinder upper end is connected with large arm base, described oscillating oil cylinder can in the horizontal plane 0～
Rotate in the range of 180 degree.
Further, large arm base one end is connected with swing hydraulic pressure oil cylinder, and the other end is connected with large arm, and pitching oil cylinder I
Base is fixed on large arm base；The piston rod of pitching oil cylinder I drives large arm to do elevating movement.
Further, pitching oil cylinder I carries linear displacement transducer I, and it passes through the pitching of servo valve precise control large arm
Motion.
Further, pitching oil cylinder II carries linear displacement transducer II, and it passes through bowing of servo valve precise control forearm
Face upward motion.
For mechanical arm recited above, its control system as shown in Fig. 2 in the present invention new auxiliary mechanical arm control system
System, including master lever, PLC master controller, angling cylinder servo valve, big arm cylinder servo valve, forearm oil cylinder servo valve, paw
Rotary oil cylinder servo valve, paw folding oil cylinder servo valve, angling cylinder, big arm cylinder, forearm oil cylinder, paw rotary oil cylinder, handss
Pawl folding oil cylinder, sensing system.
The analog data output of master lever inputs to PLC master controller as control instruction, joint of mechanical arm simultaneously
Moving displacement PLC master controller is fed back to by high accuracy rectilinear transducer, two-way analog quantity enter after master controller through
Attitude analytical algorithm calculates servo valve driving data, and PLC master controller controls hydraulic pressure to hold by controlling the flow of servo valve
The action displacement of row device, finally realizes the position servo control to mechanical arm.
Described master lever has two freedoms of motion of X, Y, can carry out the motion control signal output of X, Y-direction simultaneously,
Data signal is the analog voltage of -10V～10V.Stick X degree of freedom controls the pedestal joint left rotation and right rotation of auxiliary mechanical arm；
Stick Y degree of freedom controls the two-axle interlocking of auxiliary mechanical arm large arm and forearm, so that it is guaranteed that before and after the level of mechanical arm tail end
With vertical up-or-down movement, concrete forms of motion controls by trigger S4.When trigger S4 presses, Y degree of freedom controls auxiliary machine
Tool arm end moves forward and backward as level；When trigger S4 unclamps, Y degree of freedom controls auxiliary mechanical arm end vertically to transport
Dynamic.Button S1 can be with the single axial movement of control machinery arm, and when selecting single axial movement constantly, trigger S4 presses, then large arm
Make single-shaft-rotation motion, S4 does not press, then forearm makees single-shaft-rotation motion.
PLC master controller adopt Keyemce PLCKV-N24DT type, the speed of service 10000 steps/ms, can using ladder diagram+
Script (supporting C language pattern) programming.
Analogue collection module adopts 1 four road analog input expansion module KV-NC4AD, and collection voltages scope 0～
10V, conversion speed 80 μ s/ch.
Analog output module adopts 3 two-way analog output expansion module KV-NC2DA, output voltage range 0～
10V, conversion speed 80 μ s/ch.
Master lever has two freedoms of motion of X, Y, and data signal is the analog voltage of 0～10V, and have S1, S2,
The digital switch of S3, S4.
Linear displacement transducer selects contactless mangneto telescopic displacement sensor BTL6-A500-E2/E28-KA, power supply
Voltage 10～30V, output voltage range 0～10V.
Ship heavy industry CSDY1 jet pipe servo valve in hydraulic efficiency servo-valve employing, supply current 0～20ma.
Referring to Fig. 3, it is large arm and the analysis sketch of forearm motion, is made up of two joints, large arm and forearm are respectively
a1And a2, two rotary joint axles are parallel, joint II range of motion theta1For 85 °～95 °, joint III range of motion theta2For 75 °～
135 °, with pedestal for coordinate system for { A }；The coordinate that joint III is located is { B } for coordinate system；First solve mechanical arm tail end in base
Position in seat coordinate system { A }, then solves θ again1、θ2Size.
Specific design parameter is as shown in table 1.
The design parameter of table 1 plane two-freedom series connection robot linkage
| i | θ | Joint variable angle | Length of connecting rod | Hydraulic cylinder parameter |
| 1 | θ1 | 85 °～95 ° | 1250mm | 380mm (stroke 100mm) |
| 2 | θ2 | 75 °～135 ° | 1800mm | 680mm (stroke 400mm) |
Solve position process in coordinate system { A } for the mechanical arm tail end as follows：
(1) set position in coordinate system { A } for the mechanical arm tail end as
(2) can try to achieve position in coordinate system { B } for the p point by known conditions is
(3) from known conditionsWherein：
(4) can be obtained by (1), (2), (3)：
(5) so：
Provide position in coordinate system { A } for the mechanical arm tail endAccording to the long a of mechanical armed lever1、a2With formula (5)
Corresponding θ can be obtained1And θ2, solve：Given robot end during reset
End position：
Referring to Fig. 4, when prudent greatly hydraulic pressure auxiliary mechanical arm is in automatic motion mode, according to the motion control writing in advance
Processing procedure sequence Automatic Cycle executes, until pressing the control button on control panel.
Turn-key system procedure routine, system electrification button is pressed, next step system reset, reads linear sensing data,
Receive control instruction, if control instruction is single axial movement, according to mechanical arm single axial movement θ 1 and θ 2 data computer tool arm end
End position (x, y), if two-axle interlocking, calculates θ 1 and θ 2 according to mechanical arm tail end coordinate (x, y) by equation group (1).Execution
After the completion of operation program, return and read linear sensor data loop operation.
Referring to Fig. 5 (1)-Fig. 5 (4), this stick has two freedoms of motion of X, Y, can carry out the motion of X, Y-direction simultaneously
Control signal exports, and data signal is the analog voltage of -10V～10V.Stick X degree of freedom controls the pedestal of auxiliary mechanical arm
Joint left rotation and right rotation；Stick Y degree of freedom controls the two-axle interlocking of auxiliary mechanical arm large arm and forearm, so that it is guaranteed that mechanical arm is last
Before and after the level at end and vertical up-or-down movement, concrete forms of motion controls by trigger S4.When trigger S4 presses, Y is freely
Degree controls auxiliary mechanical arm end to move forward and backward as level；When trigger S4 unclamps, Y degree of freedom controls auxiliary mechanical arm end to make
Vertical up-or-down movement.Button S1 can be with the single axial movement of control machinery arm, and when selecting single axial movement constantly, trigger S4 presses
Under, then large arm makees single-shaft-rotation motion, and S4 does not press is, forearm makees single-shaft-rotation motion.
In the application, PLC master controller adopt Keyemce PLC KV-N24DT type, the speed of service 10000 steps/ms, permissible
Using ladder diagram+script (supporting C language pattern) programming.
Described analogue collection module adopts 1 four road analog input expansion module KV-NC4AD, collection voltages scope 0
～10V, conversion speed 80 μ s/ch.
Described analog output module adopts 3 two-way analog output expansion module KV-NC2DA, output voltage range
0～10V, conversion speed 80 μ s/ch.
Master lever has two freedoms of motion of X, Y, and data signal is the analog voltage of 0～10V, and have S1, S2,
The digital switch of S3, S4.
Linear displacement transducer selects contactless mangneto telescopic displacement sensor BTL6-A500-E2/E28-KA, power supply
Voltage 10～30V, output voltage range 0～10V.
Ship heavy industry CSDY1 jet pipe servo valve in hydraulic efficiency servo-valve employing, supply current 0～20ma.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not model is protected to the present invention
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay the various modifications that creative work can make or deformation still within protection scope of the present invention.
Claims (10)
1. a kind of new auxiliary mechanical arm control system it is characterised in that：Including master lever and master controller, described master control
The input of device processed connects analogue collection module and digital data acquisition module, and its outfan is provided with analog output module, institute
The master lever stated is connected with analogue collection module, digital data acquisition module, the mould that described analog output module exports
Analog quantity sends multiple hydraulic efficiency servo-valves by servo amplifier to after amplifying, described multiple hydraulic efficiency servo-valves control Aided Machine
Arm moves, and the signal of the limit sensors collection on the angling cylinder of auxiliary mechanical arm feeds back to master controller, Aided Machine
On the oscillating oil cylinder of arm linear displacement transducer collection signal feed back to master controller, main control its further according to feedback signal pair
Auxiliary mechanical arm carries out precise control.
2. as claimed in claim 1 new auxiliary mechanical arm control system it is characterised in that：Described auxiliary mechanical arm includes
Base, large arm, forearm and paw, are provided with a swing hydraulic pressure oil cylinder, swing hydraulic pressure hydraulic oil cylinder driving large arm on described base
Base 180 degree rotation in the horizontal plane, described large arm base is connected by joint II with large arm, and hinged one on large arm base
Individual drive large arm to be the pitching oil cylinder I of elevating movement, the end of described large arm pass through joint III hinged perpendicular before
Arm, described forearm does elevating movement under the driving of pitching oil cylinder II；In the end of forearm, one hands is connected by joint IV
Pawl.
3. as claimed in claim 2 new auxiliary mechanical arm control system it is characterised in that：Described master lever has X, Y two
Individual freedom of motion, can carry out the motion control signal output of X, Y-direction simultaneously；Master lever X degree of freedom controls Aided Machine
The joint II of arm；Master lever Y degree of freedom controls the joint III of auxiliary mechanical arm, so that it is guaranteed that before the level of mechanical arm tail end
Afterwards with vertical up-or-down movement.
4. as claimed in claim 2 new auxiliary mechanical arm control system it is characterised in that：Described swing hydraulic pressure cylinder upper end
It is connected with large arm base, described oscillating oil cylinder can rotate in the range of 0～180 degree in the horizontal plane.
5. as claimed in claim 2 new auxiliary mechanical arm control system it is characterised in that：Described large arm base one end and liquid
Pressure oscillating oil cylinder connects, and the other end is connected with large arm, and pitching oil cylinder I base is fixed on large arm base；The work of pitching oil cylinder I
Stopper rod drives large arm to do elevating movement.
6. as claimed in claim 2 new auxiliary mechanical arm control system it is characterised in that：Described pitching oil cylinder I carries straight
Linear movement pick-up I, it passes through the elevating movement of servo valve precise control large arm.
7. as claimed in claim 6 new auxiliary mechanical arm control system it is characterised in that：Described pitching oil cylinder II carries straight
Linear movement pick-up II, it passes through the elevating movement of servo valve precise control forearm.
8. utilize the large arm to auxiliary mechanical arm for the control system described in claim 7, the control method of the pendulum angle of forearm,
It is characterized in that, as follows：
The analog data output of master lever inputs to master controller as control instruction；Main controller controls mechanical arm is transported
Dynamic；The moving displacement of mechanical arm feeds back to master controller, linear displacement transducer I, straight-line displacement by linear displacement transducer
The data of the collection of sensor II calculates servo valve driving data through attitude analytical algorithm after entering master controller and drives respectively
Dynamic servo valve I, servo valve II make joint II, joint III move to angle, θ1、θ2, master controller is by controlling the flow of servo valve
To control the action displacement of hydraulic actuator, finally to realize the position servo control to mechanical arm.
9. utilize the control method described in claim 8 it is characterised in that described attitude analytical algorithm is specific as follows:
If big arm lengths are a1, forearm be a2, joint II, joint III joint shaft parallel, the anglec of rotation of joint II is
θ1；The anglec of rotation of joint III is θ2；With pedestal for coordinate system for { A }；The coordinate that joint III is located is { B } for coordinate system；First
Solve position in base coordinate system { A } for the mechanical arm tail end, then solve θ again1、θ2Size.
10. utilize the control method described in claim 9 it is characterised in that specific as follows：
Step (1) set position in coordinate system { A } for the mechanical arm tail end as
Step (2) tries to achieve position in coordinate system { B } for the mechanical arm tail end by known conditions
Step (3) is joint II, the large arm base of joint III, large arm, forearm establishment of coordinate system 3 × 3 homogeneous transformation matrix
Represent the relation with previous part coordinates system；From known conditionsWherein：
Step (4) can be obtained by step (1), (2), (3)：
Step (5) is tried to achieve：
Step (6) tries to achieve position in coordinate system { A } for the mechanical arm tail endAccording to the long a of mechanical armed lever1、a2And machinery
Position in coordinate system { A } for the arm end, you can obtain corresponding θ1And θ2, solve：
Above-mentioned ApBAll represent intermediate parameters.
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| CN108717713A (en) * | 2018-05-23 | 2018-10-30 | 南京理工大学 | Cross-arm attitude measurement method under a kind of complex background based on binocular vision |
| CN112191354A (en) * | 2020-10-09 | 2021-01-08 | 矿冶科技集团有限公司 | Control method, device, system, control equipment and computer readable storage medium |
| CN112343878A (en) * | 2020-10-15 | 2021-02-09 | 南京晨光集团有限责任公司 | Hydraulic driving system for linear motion of mechanical arm and intelligent control method thereof |
| CN112440280A (en) * | 2020-11-13 | 2021-03-05 | 国网天津市电力公司 | Hydraulic mechanical arm with master-slave control function for electric power live working |
| CN112757309A (en) * | 2020-12-08 | 2021-05-07 | 南京科工煤炭科学技术研究有限公司 | Control system and control method of spraying robot |
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Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |