CN106777736A - For the emulation platform and emulation mode of actuation redundancy Mechanical transmission test model of restricting - Google Patents
For the emulation platform and emulation mode of actuation redundancy Mechanical transmission test model of restricting Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/06—Multi-objective optimisation, e.g. Pareto optimisation using simulated annealing [SA], ant colony algorithms or genetic algorithms [GA]
Abstract
The invention discloses a kind of emulation platform and emulation mode for actuation redundancy Mechanical transmission test model of restricting.Including the subscriber unit, computer intersection control routine, mechanical arm controller and the mechanical arm that are mutually sequentially connected；Computer intersection control routine is made up of data module, solution module, display module and communication module；Subscriber unit configures the data module of computer intersection control routine, the data module by data signal transmission to solve module, module is solved by calculation result signal transmission to display module and communication module, communication module transmits control signals to mechanical arm controller, mechanical arm controller driving machine tool arm motion.The present invention is by abstract Mechanical transmission test model visualization, it is easier to carry out the improvement of trajectory planning and control strategy；There is provided various human-computer interactive control modes, researcher is allowed to be controlled for greater flexibility；There is provided the real time contrast of various optimal ways, it is more conducive to researcher and determines optimal way to be taken.
Description
Technical field
The present invention relates to mechanical arm emulation technology, and in particular to a kind of for actuation redundancy Mechanical transmission test model of restricting
Emulation platform and emulation mode.
Background technology
It is a kind of emerging type of drive that rope drives, and power is directly transmitted by using steel wire rope, reduces transmission mechanism,
The driving structure being located at originally at joint of mechanical arm is positioned over other positions, alleviate the joint weight of mechanical arm and turn
Dynamic inertia, improves the flexibility of mechanical arm, therefore increasing researcher will restrict to drive and be applied to multi-joint mechanical arm
In design.
But due to rope drive change joint direct drive mode so that the kinematics model of mechanical arm with it is original into
Ripe theoretical generation larger difference, becomes very abstract and complicated, while more complicated is also become to the control mode of mechanical arm,
In the case of not producing mechanical arm material object, researcher is difficult to carry out its movement effects the inspection in perception and data, more
It is difficult to that its control mode is optimized and improved, this undoubtedly increased search time and cost.
It is rarer at present that three dimensional graph display and multimode human-computer interactive control are conjointly employed in the auxiliary of mechanical arm design
Assistant engineer has.Used as design aid, the application of emulation platform can allow researcher's more intuitive and convenient ground testing model just
True property, more quickly experiences interactive controlling effect, more efficiently optimizes improvement, shortens the R＆D cycle, improves efficiency of research and development,
It is cost-effective.
The content of the invention
In order to allow researcher from the movement effects close to real 3-D graphic verification machine tool arm directly perceived, more directly
The design of mechanical arm and the Optimal improvements of control strategy are efficiently carried out, shortens the R＆D cycle, improve efficiency of research and development, saved into
This, it is an object of the invention to provide emulation platform and emulation mode for actuation redundancy Mechanical transmission test model of restricting.
For achieving the above object, the technical solution adopted by the present invention is：
First, for the emulation platform of actuation redundancy Mechanical transmission test model of restricting
Including the subscriber unit, computer intersection control routine, mechanical arm controller and the mechanical arm that are mutually sequentially connected；Computer
Intersection control routine is made up of data module, solution module, display module and communication module；Subscriber unit configuration computer interaction
Data signal transmission to module is solved, is solved module and believes calculation result by the data module of control system, the data module
Number display module and communication module are transferred to, communication module transmits control signals to mechanical arm controller, mechanical arm controller
Drive manipulator motion.
2nd, for actuation redundancy Mechanical transmission test model of restricting emulation platform emulation mode, the step of the method such as
Under：
1) configure：Subscriber unit has configured required configuration data and has been stored in data module and updated；
2) calculate：Data module to module is solved, solves calculation result signal after the completion of module is resolved data signal transmission
It is transferred to display module and communication module；
3) export：Calculation result signal is converted to visualized three-dimensional graphic and real-time status data by display module, then imitative
Shown in the interactive interface of true platform；
4) feed back：Visualized three-dimensional graphic and real-time status data feed back to subscriber unit；
5) perform：Calculation result signal is converted to control signal and is transferred to mechanical arm controller by communication module, then machinery
Arm controller drives mechanical arm to be moved, and the step is skipped in the case where computer intersection control routine is used alone；
6) operate：Subscriber unit is according to step 4）Feedback information responded, interact control, the follow-up behaviour needed for realizing
Make；
7) above flow is repeated until terminating.
Step 1) described in configuration data including visualized three-dimensional graphic observation visual angle, the manipulator model of simulation process
Motion optimization mode and desired manipulator model end space coordinates.
Step 2) described in solve the specific method that module resolves be according to the uniform geometry for driving universal joint joint of three ropes
The spatial pose in each joint of relation derivation and the restriction relation for driving rope displacement, obtain the kinematics model of mechanical arm, Ran Houjin
Row is positive to be solved or Converse solved；The positive solution is specially to driving rope displacement to calculate corresponding joint space accordingly
Pose, so as to obtain the spatial pose data of whole manipulator model；It is described Converse solved specially to corresponding desired machine
The spatial coordinates calculation of the end of tool arm model goes out the spatial pose of corresponding whole manipulator model, and then calculates corresponding
Drive rope displacement；
Calculation result includes spatial pose data, the absolute and relative sky in each joint of manipulator model of whole manipulator model
Between pose data, drive rope displacement and in real time calculate manipulator model end space coordinates.
Step 3) described in emulation platform interactive interface in show method be on the interactive interface of emulation platform will
Real-time status data numerical value is displayed in relevant position and dynamic updates in real time, wherein rope displacement data will be driven to be converted to figure line
Form and Dynamic Announce, while call the VR tool boxes of matlab softwares on the interactive interface of emulation platform, according to solving
To the spatial pose data of whole manipulator model obtain visualized three-dimensional graphic and dynamically display to interface；
The visualized three-dimensional graphic is specially the threedimensional model of manipulator model, and the real-time status data specifically includes machinery
All joint relative attitude angle-datas of arm model, space coordinates, the Suo Youfang of the end of the manipulator model for calculating in real time
Items under the motion optimization mode of the manipulator model of true process compare supplemental characteristic and drive rope displacement；
The motion optimization mode of the manipulator model of all simulation processes, specifically includes fixed initial value without at the beginning of optimization, iteration
Value is without the maximum minimum optimization of joint angles in joint angles in optimization, motion process and minimum optimization, motion process；The items
Compare supplemental characteristic and specifically include in motion process the current maximum joint angle number of degrees in current joint angle and data, motion process
According to adding up average maximum joint angles data in joint angles and data and motion process in, motion process.
Step 6) described in the specific method of interactive controlling be the observation visual angle for changing visualized three-dimensional graphic, positive control
Manipulator model motion, the motion of multi channel manipulator model, the motion optimization mode of the manipulator model of change simulation process
Emulated with termination and exited.
Step 6) described in change visualized three-dimensional graphic observation visual angle specific method be will observation position along x-axis or
Y-axis or z-axis translate fixed range, observation visual angle are rotated into fixed angle around x-axis or y-axis or z-axis, front view sight is directly directed to
Visual angle is examined, left view observation visual angle is directly directed to, is directly directed to top view observation visual angle and is reverted to acquiescence observation visual angle.
Step 6) described in positive control machinery arm model sport specific method, including click corresponding button or dragging
Corresponding sliding block control strip two ways, described two modes are by changing the driving rope position in the corresponding joint of manipulator model
Shifting makes corresponding articulation, so as to control the spatial pose of whole manipulator model, difference is to click corresponding button more
Accurately, corresponding sliding block control strip is dragged faster；
The specific method of multi channel manipulator model motion, including direct control machinery arm model end and change the phase
The space coordinates two ways of the end of the manipulator model of prestige；The end of direct control machinery arm model needs to click accordingly
Button makes the end of manipulator model along x-axis or y-axis or z-axis translation fixed range；Change the end of desired manipulator model
Space coordinates need to be input into required coordinate value in corresponding edit box, after confirmation the end of manipulator model can according to from
Current location progressively moves to target location to the line of target location；The difference of described two modes is direct control machinery
The end of arm model is more directly perceived quick, and energy single step is carried out；Change the space coordinates of end of desired manipulator model more
Accurately, and can be carried out continuously.
The invention has the advantages that：
1st, the figure shows of threedimensional model are combined, by abstract Mechanical transmission test model visualization, can be in simulating sports
During change three dimensional viewing visual angle at any time, compared to chart with can allowing researcher's more intuitive and convenient from multi-angle testing model
Correctness, the skimulated motion effect of mechanical arm is more directly observed from sense organ, sharpen understanding, it is easier to carry out trajectory planning
With the improvement of control strategy.
2nd, various human-computer interactive control modes, can carry out from forward direction or inversely motion control, and can freely select
Quick or accurate mode is selected, allows researcher to be controlled for greater flexibility.In addition the interactive interface Real-time Feedback of emulation platform
Parameters data, improve debugging efficiency.
3rd, the real time contrast that various optimal ways are synchronously carried out in simulation process, can enter from two aspects of transient state and final state
Row is horizontal and vertical more fully to be compared, and is more conducive to determine optimal way to be taken.
4th, the visual effect of path planning and control strategy is can verify that according to simulation process, machine is more directly and efficiently carried out
The design and optimization of tool arm, shorten the R＆D cycle, improve efficiency of research and development, cost-effective.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is workflow diagram of the invention.
Fig. 3 is software program flow chart.
Fig. 4 is the visualized three-dimensional graphic schematic diagram in interactive interface.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in figure 1, for the emulation platform of actuation redundancy Mechanical transmission test model of restricting, including be mutually sequentially connected
Subscriber unit, computer intersection control routine, mechanical arm controller and mechanical arm；Computer intersection control routine is by data mould
Block, solution module, display module and communication module composition；Subscriber unit configures the data module of computer intersection control routine,
Data signal transmission to module is solved, is solved module by calculation result signal transmission to display module and led to by the data module
Letter module, communication module transmits control signals to mechanical arm controller, mechanical arm controller driving machine tool arm motion.
As shown in Fig. 2 the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting, including it is following
Step：
1) configure：Subscriber unit has configured required configuration data and has been stored in data module and updated；
2) calculate：Data module to module is solved, solves calculation result signal after the completion of module is resolved data signal transmission
It is transferred to display module and communication module；
3) export：Calculation result signal is converted to visualized three-dimensional graphic and real-time status data by display module, then imitative
Shown in the interactive interface of true platform；
4) feed back：Visualized three-dimensional graphic and real-time status data feed back to subscriber unit；
5) perform：Calculation result signal is converted to control signal and is transferred to mechanical arm controller by communication module, then machinery
Arm controller drives mechanical arm to be moved, and the step is skipped in the case where computer intersection control routine is used alone；
6) operate：Subscriber unit is according to step 4）Feedback information responded, interact control, the follow-up behaviour needed for realizing
Make；
7) above flow is repeated until terminating.
Step 2) described in solve the specific method that module resolves be according to the uniform geometry for driving universal joint joint of three ropes
The spatial pose in each joint of relation derivation and the restriction relation for driving rope displacement, obtain the kinematics model of mechanical arm, Ran Houjin
Row is positive to be solved or Converse solved；The positive solution is specially to driving rope displacement to calculate corresponding joint space accordingly
Pose, so as to obtain the spatial pose data of whole manipulator model；It is described Converse solved specially to corresponding desired machine
The spatial coordinates calculation of the end of tool arm model goes out the spatial pose of corresponding whole manipulator model, and then calculates corresponding
Drive rope displacement；
Calculation result includes spatial pose data, the absolute and relative sky in each joint of manipulator model of whole manipulator model
Between pose data, drive rope displacement and in real time calculate manipulator model end space coordinates.
Step 3) described in emulation platform interactive interface in show method be on the interactive interface of emulation platform will
Real-time status data numerical value is displayed in relevant position and dynamic updates in real time, wherein rope displacement data will be driven to be converted to figure line
Form and Dynamic Announce, while call the VR tool boxes of matlab softwares on the interactive interface of emulation platform, according to solving
To the spatial pose data of whole manipulator model obtain visualized three-dimensional graphic and dynamically display to interface；
The visualized three-dimensional graphic is specially the threedimensional model of manipulator model, and the real-time status data specifically includes machinery
All joint relative attitude angle-datas of arm model, space coordinates, the Suo Youfang of the end of the manipulator model for calculating in real time
Items under the motion optimization mode of the manipulator model of true process compare supplemental characteristic and drive rope displacement；
The motion optimization mode of the manipulator model of all simulation processes, specifically includes fixed initial value without at the beginning of optimization, iteration
Value is without the maximum minimum optimization of joint angles in joint angles in optimization, motion process and minimum optimization, motion process；The items
Compare supplemental characteristic and specifically include in motion process the current maximum joint angle number of degrees in current joint angle and data, motion process
According to adding up average maximum joint angles data in joint angles and data and motion process in, motion process.
Step 6) described in the specific method of interactive controlling be the observation visual angle for changing visualized three-dimensional graphic, positive control
Manipulator model motion, the motion of multi channel manipulator model, the motion optimization mode of the manipulator model of change simulation process
Emulated with termination and exited.
Step 6) described in change visualized three-dimensional graphic observation visual angle specific method be will observation position along x-axis or
Y-axis or z-axis translate fixed range, observation visual angle are rotated into fixed angle around x-axis or y-axis or z-axis, front view sight is directly directed to
Visual angle is examined, left view observation visual angle is directly directed to, is directly directed to top view observation visual angle and is reverted to acquiescence observation visual angle.
Step 6) described in positive control machinery arm model sport specific method, including click corresponding button or dragging
Corresponding sliding block control strip two ways, described two modes are by changing the driving rope position in the corresponding joint of manipulator model
Shifting makes corresponding articulation, so as to control the spatial pose of whole manipulator model, difference is to click corresponding button more
Accurately, corresponding sliding block control strip is dragged faster；
The specific method of multi channel manipulator model motion, including direct control machinery arm model end and change the phase
The space coordinates two ways of the end of the manipulator model of prestige；The end of direct control machinery arm model needs to click accordingly
Button makes the end of manipulator model along x-axis or y-axis or z-axis translation fixed range；Change the end of desired manipulator model
Space coordinates need to be input into required coordinate value in corresponding edit box, after confirmation the end of manipulator model can according to from
Current location progressively moves to target location to the line of target location；The difference of described two modes is direct control machinery
The end of arm model is more directly perceived quick, and energy single step is carried out；Change the space coordinates of end of desired manipulator model more
Accurately, and can be carried out continuously.
Embodiment 1
With reference to a kind of mechanical arm of the section series connection of joint type six, the mechanical arm is often saved and is hinged by improved Hooke, often saves by three
The uniform driving rope independent control of root, it is therefore desirable to which 18 servomotors are controlled to whole mechanical arm.As shown in figure 1,
Computer connects CAN controller by USB interface, from CAN controller to mechanical arm controller transmission data, completes computer and hands over
The connection of mutual control system and mechanical arm controller；Mechanical arm controller is sent out by motor driver to the servomotor of mechanical arm
Instruction is sent, the connection of mechanical arm controller and mechanical arm is completed.Computer intersection control routine hardware environment uses desk-top calculating
Machine, software environment is built using matlab.The interactive interface of emulation platform is built using the GUI of matlab, using matlab's
VR realizes in tool box the three dimensional graph display output in interactive interface.
The flow chart of specific software program is as shown in Figure 3：
After the connection for completing computer intersection control routine, mechanical arm controller and mechanical arm, start computer interaction
Control system, user is operated by interactive interface：The physical parameter of mechanical arm is set first, for joint type six is saved in this example
The mechanical arm of series connection, therefore it is 6 to set joint of mechanical arm number, completes to be performed after entering acquisition user control command with the program that postpones
The circulation of order.
Then user can determine simulation model, including forward drive rope coupling displacement control mode, reverse terminal position
Control model and reverse end orbit control model.
Under forward drive rope coupling displacement model, program obtains user to driving the control command of rope displacement, such as the
One the first of joint drives rope to pull back 1mm, and program calculates remaining articulate institute of institute automatically after obtaining control command
There is the displacement variable for driving and restricting, then the Mechanical transmission test model solution by establishing goes out the sky of whole manipulator model
Between pose data, after the completion of resolving on the interactive interface of emulation platform output result data, chart and visualized three-dimensional graphic,
Complete a program control loops.After the output that user is fed back, operated as needed, be input into next control life
Order.
Under reverse terminal position control model, program obtains control command of the user to mechanical arm tail end position, for example
End is obtained needed for program automatic computer tool arm end after control command moves to target location along the positive translation 1mm of x-axis
Joint angular data, then solves the spatial pose data of whole manipulator model, in the interaction of emulation platform after the completion of resolving
Output result data, chart and visualized three-dimensional graphic on interface, complete a program control loops.It is defeated that user is fed back
After going out, operated as needed, be input into next control command.
Under reverse end orbit control model, program obtains the coordinates of targets and optimal way of user's setting, and such as x sits
Scale value, y-coordinate value and z coordinate value are set as 50, are optimized with joint angles in motion process and minimum optimal way.It is complete
Into with postponing, the solution module of computer intersection control routine starts analysis, carries out trajectory planning, determines the end of manipulator model
The motion process that end progressively moves to target location from current location is simulation process, forms small program circulation, in the circulating cycle
Motion process is decomposed into some steps, the terminal position of each step manipulator model all can than previous step closer to target location,
And then progressively towards target location movement.The solution module of computer intersection control routine is solved to each step, according to current
The spatial coordinates calculation of the terminal position of manipulator model goes out all joint angles of manipulator model, so as to obtain whole machinery
The spatial pose data of arm model, update result data, the chart of output on the interactive interface of emulation platform after the completion of resolving
And visualized three-dimensional graphic, then communication module calculation result signal is converted into control signal, such as rotating speed of motor, Ran Houchuan
It is defeated then motion to be synchronized by mechanical arm controller driving machine tool arm to mechanical arm controller, complete to perform step.Due to existing
Foozle, position and attitude of the actual machine arm in motion process can have different with visualized three-dimensional graphic.Finally
Whether Programmable detection mechanical arm reaches target location, if otherwise continuing partial circulating, next step is calculated and is solved；If then terminating small
Circulation, completes a program control loops.After the output that user is fed back, operated as needed, be input into next control
System order.
Computer intersection control routine in the process of running, user can observe required for real-time status data and visual
Change 3-D graphic, obtain feedback information, such as first joint angles in joint of mechanical arm, first first, joint drives rope
Displacement etc..Visualized three-dimensional graphic is as shown in figure 4, shown is that joint type six saves the manipulator model connected, the mechanical arm
There are six sections, often save by three uniform driving rope independent controls, the overall space of mechanical arm is contained in visualized three-dimensional graphic
The information such as the locus of attitude and mechanical arm tail end.After each program control loops terminate, user can be input into and exit
Control command come terminate emulation, quit a program.
For logical technical staff, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, this
A little improvements and modifications also should be regarded as protection scope of the present invention.
Claims (8)
1. for the emulation platform of actuation redundancy Mechanical transmission test model of restricting, it is characterised in that：Including what is be mutually sequentially connected
Subscriber unit, computer intersection control routine, mechanical arm controller and mechanical arm；Computer intersection control routine is by data mould
Block, solution module, display module and communication module composition；Subscriber unit configures the data module of computer intersection control routine,
Data signal transmission to module is solved, is solved module by calculation result signal transmission to display module and led to by the data module
Letter module, communication module transmits control signals to mechanical arm controller, mechanical arm controller driving machine tool arm motion.
2. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 1,
Characterized in that, the method is comprised the following steps：
1) configure：Subscriber unit has configured required configuration data and has been stored in data module and updated；
2) calculate：Data module to module is solved, solves calculation result signal after the completion of module is resolved data signal transmission
It is transferred to display module and communication module；
3) export：Calculation result signal is converted to visualized three-dimensional graphic and real-time status data by display module, then imitative
Shown in the interactive interface of true platform；
4) feed back：Visualized three-dimensional graphic and real-time status data feed back to subscriber unit；
5) perform：Calculation result signal is converted to control signal and is transferred to mechanical arm controller by communication module, then machinery
Arm controller drives mechanical arm to be moved, and the step is skipped in the case where computer intersection control routine is used alone；
6) operate：Subscriber unit is according to step 4）Feedback information responded, interact control, the follow-up behaviour needed for realizing
Make；
7) above flow is repeated until terminating.
3. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 2,
It is characterized in that：Step 1) described in configuration data including visualized three-dimensional graphic observation visual angle, the mechanical arm of simulation process
The motion optimization mode of model and the space coordinates of the end of desired manipulator model.
4. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 2,
It is characterized in that：Step 2) described in solve the specific method that module resolves be to drive the several of universal joint joint according to three ropes are uniform
The spatial pose in what each joint of relation derivation and the restriction relation for driving rope displacement, obtain the kinematics model of mechanical arm, then
Carry out positive solution or Converse solved；The positive solution is specially and drives rope displacement to calculate corresponding joint sky to corresponding
Between pose, so as to obtain the spatial pose data of whole manipulator model；It is described Converse solved specially to corresponding desired
The spatial coordinates calculation of the end of manipulator model goes out the spatial pose of corresponding whole manipulator model, and then calculates corresponding
Driving rope displacement；
Calculation result includes spatial pose data, the absolute and relative sky in each joint of manipulator model of whole manipulator model
Between pose data, drive rope displacement and in real time calculate manipulator model end space coordinates.
5. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 2,
It is characterized in that：Step 3) described in emulation platform interactive interface in show method be on the interactive interface of emulation platform
Real-time status data numerical value is included in relevant position and dynamic renewal in real time, wherein rope displacement data will be driven to be converted to figure line
Form and Dynamic Announce, while call the VR tool boxes of matlab softwares on the interactive interface of emulation platform, according to solution
During the spatial pose data of the whole manipulator model for obtaining obtain visualized three-dimensional graphic and dynamically display to interface；
The visualized three-dimensional graphic is specially the threedimensional model of manipulator model, and the real-time status data specifically includes machinery
All joint relative attitude angle-datas of arm model, space coordinates, the Suo Youfang of the end of the manipulator model for calculating in real time
Items under the motion optimization mode of the manipulator model of true process compare supplemental characteristic and drive rope displacement；
The motion optimization mode of the manipulator model of all simulation processes, specifically includes fixed initial value without at the beginning of optimization, iteration
Value is without the maximum minimum optimization of joint angles in joint angles in optimization, motion process and minimum optimization, motion process；The items
Compare supplemental characteristic and specifically include in motion process the current maximum joint angle number of degrees in current joint angle and data, motion process
According to adding up average maximum joint angles data in joint angles and data and motion process in, motion process.
6. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 2,
It is characterized in that：Step 6) described in interactive controlling specific method be change visualized three-dimensional graphic observation visual angle, forward direction
The model sport of control machinery arm, the motion of multi channel manipulator model, the motion optimization of the manipulator model of change simulation process
Mode and termination are emulated and exited.
7. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 6,
It is characterized in that：Step 6) described in change visualized three-dimensional graphic observation visual angle specific method be will observation position along x
Axle or y-axis or z-axis translate fixed range, observation visual angle are rotated into fixed angle around x-axis or y-axis or z-axis, main view is directly directed to
Figure observation visual angle, be directly directed to left view observation visual angle, be directly directed to top view observation visual angle and revert to acquiescence observation
Visual angle.
8. the emulation mode of the emulation platform for actuation redundancy Mechanical transmission test model of restricting according to claim 6,
It is characterized in that：Step 6) described in positive control machinery arm model sport specific method, including click corresponding button or
Drag corresponding sliding block control strip two ways, described two modes are by changing the driving in the corresponding joint of manipulator model
Rope displacement makes corresponding articulation, so as to control the spatial pose of whole manipulator model, difference be click it is corresponding by
Button is more accurate, drags corresponding sliding block control strip faster；
The specific method of multi channel manipulator model motion, including direct control machinery arm model end and change the phase
The space coordinates two ways of the end of the manipulator model of prestige；The end of direct control machinery arm model needs to click accordingly
Button makes the end of manipulator model along x-axis or y-axis or z-axis translation fixed range；Change the end of desired manipulator model
Space coordinates need to be input into required coordinate value in corresponding edit box, after confirmation the end of manipulator model can according to from
Current location progressively moves to target location to the line of target location；The difference of described two modes is direct control machinery
The end of arm model is more directly perceived quick, and energy single step is carried out；Change the space coordinates of end of desired manipulator model more
Accurately, and can be carried out continuously.
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| CN110039547A (en) * | 2019-05-27 | 2019-07-23 | 清华大学深圳研究生院 | A kind of human-computer interaction terminal and method of flexible mechanical arm remote operating |
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| CN113059558A (en) * | 2020-01-02 | 2021-07-02 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN112764357A (en) * | 2021-01-22 | 2021-05-07 | 郑州捷安高科股份有限公司 | Engineering machinery simulation method, device, equipment and storage medium |
| CN113126568A (en) * | 2021-03-10 | 2021-07-16 | 上海乾庾智能科技有限公司 | Industrial robot operation and demonstration system based on augmented reality technology |
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