CN106826918A - Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm - Google Patents
Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm Download PDFInfo
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- CN106826918A CN106826918A CN201710003235.XA CN201710003235A CN106826918A CN 106826918 A CN106826918 A CN 106826918A CN 201710003235 A CN201710003235 A CN 201710003235A CN 106826918 A CN106826918 A CN 106826918A
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- mechanical arm
- motor
- adjustment
- value
- module
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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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a kind of mechanical arm adjusting process, for adjustment mechanical arm.The mechanical arm includes arm body and the motor for driving the arm body motion.In the mechanical arm adjusting process, first, produce control signal to control the motor to turn to the first actual angle, the control signal is corresponding with the first point of theory of the motor.Then, first value of electrical signals relevant with first actual angle of the motor output is sensed.Finally, the motor according to the first difference adjustment of the corresponding angle of first value of electrical signals and first point of theory.Using the mechanical arm adjusting process of embodiment of the present invention, it is not necessary to complicated equipment or professional person, domestic consumer can complete adjustment to mechanical arm, and calibration procedures are easy to learn, quick and convenient.Present invention also offers a kind of mechanical arm calibration apparatus and mechanical arm.
Description
Technical field
The present invention relates to mechanical arm technology, more particularly to a kind of mechanical arm adjusting process, mechanical arm calibration apparatus and machinery
Arm.
Background technology
The construction of mechanical arm is complex, and in order to reach set positioning precision and repeatable accuracy, mechanical arm is before dispatching from the factory
Need to be corrected work.Correction or calibration operation refer to that the execution pose of mechanical arm input/output signal and reality is carried out
Deviation statistics simultaneously carry out a kind of processing method of deviation minimum.
In the prior art, general industrial machinery arm calibration method is carried out by 3D vision or extra correcting mechanism
The calibration of mechanical arm.Industrially, calibration repeatedly can be taken mechanical arm by high-precision industrial camera.But,
There is provided high accuracy three-dimensional vision or correcting mechanism carries out calibration and spends big, and prover time is long, cuts and be not easy to after dispatching from the factory calibration,
Therefore it is not particularly suitable for domestic or commercial small-sized machine arm.
The content of the invention
Embodiments of the present invention are intended at least solve one of technical problem present in prior art.Therefore, of the invention
Implementation method need to provide a kind of mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm.
The invention provides a kind of mechanical arm adjusting process, for adjustment mechanical arm, the mechanical arm includes arm body and use
In the motor for driving the arm body motion, the mechanical arm adjusting process is comprised the following steps：
Produce step, produce control signal to control the motor to turn to the first actual angle, the control signal with
First point of theory of the motor is corresponding；
First sensing step, senses first value of electrical signals relevant with first actual angle of the motor output；
And
First alignment step, it is poor with the first of first point of theory according to the corresponding angle of first value of electrical signals
Motor described in value adjustment.
It is common to use using the mechanical arm adjusting process of embodiment of the present invention, it is not necessary to complicated equipment or professional person
Family can complete adjustment to mechanical arm, and calibration procedures are easy to learn, quick and convenient.So as to some for solving prior art are asked
Topic.
In some embodiments, the number of the motor includes multiple, each arm described in the motor and at least one
Body correspondence；
The mechanical arm adjusting process carries out the generation step, the first sensing step to motor each described successively
And first alignment step.
In some embodiments, the motor is coupled with potentiometer, and the potentiometer is used for according to residing for the motor
Angle adjustment access resistance, resistance and the angle residing for the motor of the access resistance have corresponding relation；Described first
The corresponding magnitude of voltage of the sensing step sensing access resistance；First value of electrical signals includes the magnitude of voltage.
In some embodiments, the mechanical arm adjusting process includes：
Multiple control signals are sequentially generated, different first point of theory of each control signal correspondence；
The generation step, the first sensing step are carried out for control signal each described；
Calculation procedure, the value of electrical signals pair corresponding with the control signal is calculated for control signal each described
First difference of the angle answered and first point of theory；And
Second alignment step, the motor according to multiple the first difference adjustment.
In some embodiments, second alignment step includes：
Sub-step is obtained, is obtained between first point of theory and first value of electrical signals using least square method
Regression straight line；
Adjustment sub-step, the motor according to the regression straight line adjustment.
In some embodiments, comprise the following steps：
Moving step, is moved to precalculated position to drive the motor to turn to the second actual angle, institute by the arm body
State precalculated position corresponding with the second point of theory of the motor；
Second sensing step, senses second value of electrical signals relevant with second actual angle of the motor output；
And
3rd alignment step, it is poor with the second of second point of theory according to the corresponding angle of second value of electrical signals
Motor described in value adjustment.
In some embodiments, the precalculated position includes the mechanical position limitation position of the arm body.
Present invention also offers a kind of mechanical arm, the mechanical arm adjusting process described in above-mentioned implementation method can be applied to carry out
Adjustment；The mechanical arm includes arm body and the motor for driving the arm body motion.
Present invention also offers a kind of mechanical arm calibration apparatus, for adjustment mechanical arm, the mechanical arm include arm body and
Motor for driving the arm body motion, mechanical arm calibration apparatus include：
Generation module, the generation module is used to produce control signal to control the motor to turn to the first actual corners
Degree, the control signal is corresponding with the first point of theory of the motor；
First sensing module, first sensing module is being used to sensing motor output with first actual angle
The first relevant value of electrical signals；And
First adjustment module, the first adjustment module be used for according to the corresponding angle of first value of electrical signals with it is described
Motor described in first difference adjustment of the first point of theory.
In some embodiments, the number of the motor includes multiple, each arm described in the motor and at least one
Body correspondence；
The mechanical arm calibration apparatus are used for using the generation module, first sensing module and first adjustment
Module motor described in adjustment successively.
In some embodiments, the mechanical arm calibration apparatus include being arranged at the potentiometer of the motor, the electricity
The angle adjustment that position device is used for according to residing for the motor accesses resistance；
First sensing module includes sensing submodule, and the sensing submodule is used to sense the access resistance correspondence
Magnitude of voltage；First value of electrical signals includes the magnitude of voltage.
In some embodiments, the mechanical arm calibration apparatus include：
The generation module includes producing submodule and control submodule；
The generation submodule is used to be sequentially generated multiple control signals, and each described control signal correspondence is different
First point of theory；
The control submodule is used to control the motor to turn to corresponding institute according to each described control signal successively
State the first actual angle；
First sensing module is used to sensing successively relevant with first actual angle the of motor output
One value of electrical signals；
The mechanical arm calibration apparatus include computing module and the second adjustment module；The computing module is used for for each
The control signal calculates the value of electrical signals corresponding angle corresponding with the control signal with the described first theoretical angle
First difference of degree；The second adjustment module is used for the motor according to multiple the first difference adjustment.
In some embodiments, the second adjustment module includes：
Obtain submodule, the acquisition submodule be used for using least square method obtain first point of theory with it is described
Regression straight line between first value of electrical signals；
Adjustment submodule, the adjustment submodule is used for the motor according to the regression straight line adjustment.
In some embodiments, the mechanical arm calibration apparatus also include：
Mobile module, the mobile module is used to be moved to precalculated position to drive the motor to turn to by the arm body
Second actual angle, the precalculated position is corresponding with the second point of theory of the motor；
Second sensing module, second sensing module is being used to sensing motor output with second actual angle
The second relevant value of electrical signals；And
3rd adjustment module, the 3rd adjustment module be used for according to the corresponding angle of second value of electrical signals with it is described
Motor described in second difference adjustment of the second point of theory.
In some embodiments, the precalculated position includes the mechanical position limitation position of the arm body.
The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partly will be from following
Description in become obvious, or recognized by the practice of embodiments of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of embodiments of the present invention are from combination accompanying drawings below to implementation method
Be will be apparent in description and be readily appreciated that, wherein：
Fig. 1 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Fig. 2 is the high-level schematic functional block diagram of the mechanical arm adjusting process of embodiment of the present invention.
Fig. 3 is the schematic perspective view of the mechanical arm of embodiment of the present invention.
Fig. 4 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Fig. 5 is the high-level schematic functional block diagram of the mechanical arm calibration apparatus of embodiment of the present invention.
Fig. 6 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Fig. 7 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Fig. 8 is the high-level schematic functional block diagram of the mechanical arm calibration apparatus of embodiment of the present invention.
Fig. 9 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Figure 10 is the high-level schematic functional block diagram of the mechanical arm calibration apparatus of embodiment of the present invention.
Figure 11 is the principle schematic of the mechanical arm adjusting process of embodiment of the present invention.
Figure 12 is the schematic flow sheet of the mechanical arm adjusting process of embodiment of the present invention.
Figure 13 is the high-level schematic functional block diagram of the mechanical arm calibration apparatus of embodiment of the present invention.
Figure 14 is the schematic diagram in kind of the mechanical arm adjusting process principle of embodiment of the present invention.
Figure 15 is the schematic diagram in kind of the mechanical arm adjusting process principle of embodiment of the present invention.
Figure 16 is the schematic diagram in kind of the mechanical arm adjusting process principle of embodiment of the present invention.
Specific embodiment
The implementation method of embodiments of the present invention is described below in detail, the example of implementation method is shown in the drawings, its
In from start to finish same or similar label represent same or similar element or the element with same or like function.Below
Exemplary by reference to the implementation method of Description of Drawings, be only used for explain embodiments of the present invention, and it is not intended that
Limitation to embodiments of the present invention.
Refer to Fig. 1-3, the mechanical arm adjusting process of mechanical arm 200 of embodiment of the present invention, for adjustment mechanical arm
200, mechanical arm 200 include arm body 210 and for actuating arm body 210 motion motor 260, mechanical arm adjusting process may include with
Lower step：
Step S1, produces control signal to turn to the first actual angle, control signal and motor 260 with controlled motor 260
The first point of theory it is corresponding；
Step S2, first value of electrical signals relevant with the first actual angle of the output of detection-sensitive motor 260；
Step S3, according to the corresponding angle of the first value of electrical signals and the first difference adjustment motor 260 of the first point of theory.
The mechanical arm adjusting process of embodiment of the present invention can be real by the mechanical arm calibration apparatus 100 of embodiment of the present invention
It is existing, wherein, step S1 can be realized that step S2 can be by mechanical arm calibration apparatus by the generation module 110 of mechanical arm calibration apparatus 100
100 the first sensing module 120 realizes that step S3 can be realized by the first adjustment module 130 of mechanical arm calibration apparatus 100.
That is, generation module 110 is used to produce control signal to turn to the first actual angle with controlled motor 260, control signal with
First point of theory of motor 260 is corresponding.First sensing module 120 is for the output of detection-sensitive motor 260 and the first actual corners
The first relevant value of electrical signals of degree.First adjustment module 130 is used for theoretical with first according to the corresponding angle of the first value of electrical signals
First difference adjustment motor 260 of angle.
According to the first value of electrical signals corresponding angle of available first value of electrical signals, then the first reason corresponding with control signal
It is compared by angle, the two angles should be substantially identical in the case where mechanical arm 200 works well, that is to say, that
If motor 260 receives control, if turned to actual angle the first point of theory corresponding with control signal is substantially coincide, and is said
Bright mechanical arm 200 this part normal operation need not adjust compared with.If misfit even it is too wide in the gap, it is necessary to adjustment so that this two
Individual angle tends to coincide.
The mechanical arm adjusting process or mechanical arm calibration apparatus 100 of embodiment of the present invention can be applied to embodiment party of the present invention
The mechanical arm 200 of formula.
Using the mechanical arm adjusting process or mechanical arm calibration apparatus 100 of embodiment of the present invention, it is not necessary to which complicated sets
Standby or professional person, domestic consumer can complete adjustment to mechanical arm 200, and calibration procedures are easy to learn, quick and convenient.Therefore,
The use of domestic consumer or commercial user to mechanical arm 200 can be significantly facilitated.
Fig. 3 is referred to, mechanical arm 200 can be a kind of desktop type small-sized machine arm 200, and it includes arm body 210, microcontroller
Device 220, dc source.Mechanical arm 200 can be connected with personal computer (not shown).Microcontroller 220 is the master of mechanical arm 200
Controller is wanted, the control signal and control machinery arm 200 for receiving external control devices such as personal computer perform related dynamic
Make.Dc source can be powered with 5A supply currents using 5V supply voltages to microcontroller 220.Personal computer and micro-control
Device processed 220 is communicated by serial ports.
The mechanical arm 200 of some implementation methods of the invention may include four motors 260, be respectively base electrical machinery 261, left side
Motor 263, right motor 265, end motor 267.Wherein base electrical machinery 261 can be used to drive the base shaft of mechanical arm 200
Rotation so that arm body 210 rotates relative to base 240, and then make extracting portion part 230 that the movement of left and right directions to occur.
Arm body 210 may include the second arm 211 and the first arm 212, and the second arm 211 is connected with extracting portion part 230, and the first arm 212 is the bottom of near
Seat 240 is set.Left motor 263 can be used to drive the first arm 212 to turn in the plane with horizontal plane around base 240
It is dynamic.Right motor 265 can be used to drive the second arm 211 to be relatively rotated with the first arm 212, you can to regulate and control the second arm 211
With the angle between the first arm 212.End motor 267 is arranged at the junction of the second arm end 2111 and extracting portion part 230, main
It is used to drive extracting portion part 230 to be rotated relative to the second arm 211.
In mechanical arm adjusting process in some embodiments, the number of motor 260 includes multiple, each motor 260
It is corresponding with least one arm body 210；
Mechanical arm adjusting process carries out step S1, step S2 and step S3 to each motor 260 successively.
In some embodiments, mechanical arm 200 includes more than one motor 260, therefore can use embodiment party of the present invention
The mechanical arm adjusting process or mechanical arm calibration apparatus 100 of formula carry out adjustment to multiple motors 260 successively.Due to different motors
260 mechanical arm adjusting process is same or analogous, therefore calibration procedures to user bring convenience.
Fig. 4-5 are referred to, in some embodiments, motor 260 is provided with potentiometer, and potentiometer is used for according to motor
Angle adjustment residing for 260 accesses resistance, and step S2 may include：
Step S201, sensing accesses the corresponding magnitude of voltage of resistance, and the first value of electrical signals includes magnitude of voltage.
Step S201 can be by the sensing of the first sensing module 120 of the mechanical arm calibration apparatus 100 of some implementation methods
Module 121 is completed, that is, sensing submodule 121 is used to sense the corresponding magnitude of voltage of access resistance.Wherein, the first value of electrical signals includes
Magnitude of voltage.
The corresponding angle of magnitude of voltage can obtain according to magnitude of voltage, then the first point of theory corresponding with control signal is compared
Compared with, the two angles should be substantially identical in the case where mechanical arm 200 works well, if misfitting or even too wide in the gap,
Adjustment is accomplished by so that the two angles tend to coincide.
The measurement of magnitude of voltage can be realized that measuring circuit may include the potentiometer coupled with motor 260, current potential by measuring circuit
The resistance of the access resistance of device has certain corresponding relation with the angle residing for motor 260, such as in linear relationship substantially.And
It is direct proportion linear relationship that the voltage got of resistance is accessed in measuring circuit with the resistance for accessing resistance, therefore accesses resistance and get
Magnitude of voltage and motor 260 residing for angle also have corresponding relation.
The magnitude of voltage that resistance is got is accessed by measuring, the angle residing for motor 260 can be calculated, by calculating gained
Angle value the first point of theory value corresponding with control signal compare, can adjust motor 260 so that the two angle values tend to
It coincide.
Fig. 6 can refer to the process that motor 260 carries out adjustment according to control signal, wherein pwm signal is present invention implementation
Control signal in mode, analog signal output is the first electric signal output.
Fig. 7-8 are referred to, in some embodiments, mechanical arm adjusting process may include following steps：
S4, is sequentially generated multiple control signal, the first different point of theory of each control signal correspondence；
S5, step S1, S2 is carried out for each control signal；
S6, calculates the value of electrical signals corresponding angle corresponding with control signal theoretical with first for each control signal
First difference of angle；And
S7, according to multiple first difference adjustment motors 260.
In the mechanical arm calibration apparatus 100 of some implementation methods, the generation module 110 of mechanical arm calibration apparatus 100 can
Including producing submodule 111 and control submodule 113, mechanical arm calibration apparatus 100 also include the adjustment of computing module 140 and second
Module 150.Step S4 can be realized by generation submodule 111.Step S5 can be by the sensing module 120 of control submodule 113 and first
Realize.Step S6 can be realized by computing module 140.Step S7 can be realized by the second adjustment module 150.
Producing submodule 111 is used to be sequentially generated multiple control signal, the first different reason of each control signal correspondence
By angle.Control submodule 113 is used to turn to corresponding first actual corners according to each control signal controlled motor 260 successively
Degree.First sensing module 120 is used for first value of electrical signals relevant with the first actual angle of the output of detection-sensitive motor 260 successively.
Computing module 140 is used to calculate the value of electrical signals corresponding angle and first corresponding with control signal for each control signal
First difference of point of theory.Second adjustment module 150 is used for according to multiple first difference adjustment motors 260.
That is, multiple control signal is produced, each control signal one the first point of theory value of correspondence.For the above
Controlled motor 260 turns to different angles, and the first electric signal of the output of measurement motor 260 respectively to multiple control signal respectively
Value, and further it is calculated the first difference of the corresponding angle of corresponding first value of electrical signals and the first point of theory.
So multiple first differences are can obtain for multiple control signal.First difference is exactly in fact motor 260 according to control
Gap between the angle that the angle and actual rotation that signal processed should be turned to are arrived.Because measurement can all have different mistakes every time
Difference, therefore multiple first differences are not necessarily equal, according to the principle of statistics, the data volume for being counted is bigger, and the result for obtaining is got over
Tend to objective and closer to truth.Therefore, by integrating multiple first differences, for example, data are screened and is averaging again
Value, obtains average first difference, adjustment is carried out to mechanical arm 200 further according to average first difference, to improve the accuracy of adjustment.
One important sources of error are probably that value of electrical signals can not reflect to entirely accurate motor 260 is turned to
One actual angle.For example, the method for the magnitude of voltage got using the access resistance of the measurement potentiometer in above-mentioned implementation method,
The angle that magnitude of voltage is rotated with motor 260 is not necessarily accurately linear relationship, it may be possible to general linear relationship, for example electricity
Pressure value fluctuates within the specific limits.The reason for error, is possible to performance parameter or potentiometer and motor 260 with potentiometer
The degree of coupling it is relevant.
Therefore, Fig. 9-11 are referred to, in the present embodiment, step S7 can be further included：
S701, the regression straight line between the first point of theory and the first value of electrical signals is obtained using least square method；And
S703, according to regression straight line adjustment motor 260.
Wherein, step S701 can obtaining by the second adjustment module 150 of the mechanical arm calibration apparatus 100 of some implementation methods
Obtain submodule 151 and realize that step S703 can be by the adjustment submodule 153 of the second adjustment module 150 of mechanical arm calibration apparatus 100
Realize.
Figure 11 is referred to, due to being sensed for multiple different control signals, the multigroup first theoretical angle is can obtain
Degree and the first value of electrical signals.It is abscissa with the first point of theory, is ordinate with the first value of electrical signals, sets up two-dimensional coordinate
System, can obtain multigroup first point of theory scatterplot corresponding with the first value of electrical signals, and least square method is used for these scatterplots,
A regression straight line, referred to as first straight line are can obtain, these scatterplots are distributed in the both sides of regression straight line.
Theoretical value of electrical signals can also be obtained according to the first point of theory, that is, when motor 260 turns to the first theory
During angle, the parameter error of the element (such as potentiometer) of acquisition value of electrical signals, the value of electrical signals that should be obtained in theory are not considered.Root
According to the first point of theory and theoretical value of electrical signals, another regression straight line, referred to as second can be obtained in above-mentioned two-dimensional coordinate system
Straight line.Two slopes of regression straight line are all that the unit turn angle of motor 260 causes value of electrical signals knots modification, therefore two recurrence
Straight line is parallel.Cross and the straight line parallel with transverse axis is a little done on the longitudinal axis, A points are intersected at first straight line, with second straight line phase
Meet at B points.The distance between A points and B points are the difference between the point of theory of motor 260 and actual angle, the mesh of adjustment
The difference that namely makes tend to 0.
Figure 12-13 are referred to, in some embodiments, mechanical arm adjusting process may include following steps：
S8, is moved to arm body 210 precalculated position and turns to the second actual angle with drive motor 260, precalculated position with
Second point of theory of motor 260 is corresponding；
S9, second value of electrical signals relevant with the second actual angle of the output of detection-sensitive motor 260；And
S10, according to the corresponding angle of the second value of electrical signals and the second difference adjustment motor 260 of the second point of theory.
In some embodiments, mechanical arm calibration apparatus 100 may include mobile module 160, the second sensing module 170 and
3rd adjustment module 180.Wherein, step S8 can be realized that mobile module 160 is used to be moved to arm body 210 by mobile module 160
Precalculated position turns to the second actual angle with drive motor 260, and precalculated position is relative with the second point of theory of motor 260
Should.Step S9 can be realized that the second sensing module 170 is used for the real with second of the output of detection-sensitive motor 260 by the second sensing module 170
The second relevant value of electrical signals of border angle.Step S10 can be realized that the 3rd adjustment module 180 is used for root by the 3rd adjustment module 180
According to the corresponding angle of the second value of electrical signals and the second difference adjustment motor 260 of the second point of theory.
By adjustment, can make arm body 210 and motor 260 is coupled back normal condition, so that motor 260 is to arm body 210
More accurately controlled.
In some implementation methods, precalculated position includes the mechanical position limitation position of arm body 210.
The purpose of each step of present embodiment is adjustment mechanical arm 200 to reduce the coupling between arm body 210 and motor 260
Error.The degree of accuracy of adjustment can be lifted by the way of arm body 210 is moved into mechanical position limitation position.
Figure 14-16 are referred to, the order of adjustment can be base electrical machinery 261, left motor in some embodiments
263rd, right motor 265.Specifically, base electrical machinery 261 first can be offset into 45 degree.Figure 14 is referred to, the second arm 211 is use up
Amount with left front support 241 near and on the same plane among.Because left front support 241 is 45 degree of actual angles.Work as movement
Base electrical machinery 261 makes the second arm 211 at this point it is possible to read the angle of base electrical machinery 261.This angle and 45 degree of difference will
It is the side-play amount of base electrical machinery 261.Adjustment motor 260 tends to 0 with side-play amount.
Figure 15 is referred to, after base electrical machinery 261 have been processed, keeps 45 degree of angles of base electrical machinery 261 constant, while rear move
First arm 212 so that the sub-arm of the first arm 212 is in contact with facet joint screws 2121, forms mechanical position limitation.Left motor 263
Mechanical position limitation in this is 130 degree.So will now read the number of degrees of left motor 263, error of the number of degrees with 130 degree is
The side-play amount of left motor 263.
Figure 16 is referred to, while the second arm 211 is moved downward to can not to move to form mechanical position limitation again.Now second
The mechanical position limitation angle of arm 211 is 20 degree.Read the angle of right motor 265 and to subtract each other with 20 degree be right motor 265
Side-play amount, adjustment motor 260 tends to 0 with side-play amount.
The mechanical arm 200 of embodiment of the present invention, can apply the mechanical arm adjusting process of embodiment of the present invention to be adjusted
School.Mechanical arm 200 may include arm body 210 and the motor 260 for the motion of actuating arm body 210.
The not deployed other parts of the system of mechanical arm 200 of embodiment of the present invention, can join the keyboard of embodiment of above
The corresponding part of formula control device, is no longer developed in details herein.
In the description of embodiments of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length
Degree ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ",
" outward ", the orientation or position relationship of the instruction such as " clockwise ", " counterclockwise " are based on orientation shown in the drawings or position relationship, only
It is to be described with simplified for the ease of description embodiments of the present invention, it is necessary rather than the device or element for indicating or imply meaning
With specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limitation to embodiments of the present invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance or implicit
Indicate the quantity of indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed or impliedly wrap
Include one or more feature.In the description of embodiments of the present invention, " multiple " is meant that two or two
More than, unless otherwise expressly limited specifically.
, it is necessary to illustrate in the description of embodiments of the present invention, unless otherwise clearly defined and limited, term
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can mechanically connect, or electrically connect or can mutually communicate；Can be joined directly together, it is also possible to logical
Intermediary is crossed to be indirectly connected to, can be two element internals connection or two interaction relationships of element.For ability
For the those of ordinary skill in domain, above-mentioned term specifically containing in embodiments of the present invention can be as the case may be understood
Justice.
In embodiments of the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it
" on " or D score can include the first and second feature directly contacts, it is also possible to including the first and second features be not directly to connect
Touch but by the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " on
Face " includes fisrt feature directly over second feature and oblique upper, or to be merely representative of fisrt feature level height special higher than second
Levy.Fisrt feature second feature " under ", " lower section " and " below " include fisrt feature directly over second feature and tiltedly on
Side, or fisrt feature level height is merely representative of less than second feature.
Following disclosure provides many different implementation methods or example is used for realizing embodiments of the present invention not
Same structure.In order to simplify the disclosure of embodiments of the present invention, hereinafter the part and setting to specific examples are described.When
So, they are only merely illustrative, and purpose does not lie in the limitation present invention.Additionally, embodiments of the present invention can be in different examples
Repeat reference numerals and/or reference letter in son, this repetition are for purposes of simplicity and clarity, itself not indicate to be begged for
By the relation between various implementation methods and/or setting.Additionally, the various specific technique that embodiments of the present invention are provided
With the example of material, but those of ordinary skill in the art can be appreciated that the application of other techniques and/or making for other materials
With.
In the description of this specification, reference term " implementation method ", " some implementation methods ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means to combine the tool that the implementation method or example are described
Body characteristicses, structure, material or feature are contained at least one implementation method of the invention or example.In this manual,
Schematic representation to above-mentioned term is not necessarily referring to identical implementation method or example.And, the specific features of description, knot
Structure, material or feature can in an appropriate manner be combined in one or more any implementation methods or example.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list of the executable instruction for realizing logic function, in may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processing module or other can be from instruction
The system of execution system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or
Equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can include, store, communicating, propagating or
Transmission procedure is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment
Device.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Connected up with one or more
Electrical connection section (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can thereon print described program or other are suitable
Medium, because optical scanner for example can be carried out by paper or other media, then enters edlin, interpretation or if necessary with it
His suitable method is processed electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of embodiments of the present invention can be with hardware, software, firmware or combinations thereof come real
It is existing.In the above-described embodiment, multiple steps or method can be with storages in memory and by suitable instruction execution system
The software or firmware of execution is realized.If for example, being realized with hardware, with another embodiment, ability can be used
Any one of following technology known to domain or their combination are realized：With for realizing logic function to data-signal
The discrete logic of logic gates, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
The rapid hardware that can be by program to instruct correlation is completed, and described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, each functional unit in various embodiments of the present invention can be integrated in a processing module, also may be used
Being that unit is individually physically present, it is also possible to which two or more units are integrated in a module.It is above-mentioned integrated
Module can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module
If realized in the form of using software function module and as independent production marketing or when using, it is also possible to which storage is in a calculating
In machine read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (15)
1. a kind of mechanical arm adjusting process, for adjustment mechanical arm, the mechanical arm includes arm body and for driving the arm body
The motor of motion, it is characterised in that the mechanical arm adjusting process is comprised the following steps：
Produce step, produce control signal to control the motor to turn to the first actual angle, the control signal with it is described
First point of theory of motor is corresponding；
First sensing step, senses first value of electrical signals relevant with first actual angle of the motor output；And
First alignment step, adjusts according to the corresponding angle of first value of electrical signals with the first difference of first point of theory
Motor described in school.
2. mechanical arm adjusting process as claimed in claim 1, it is characterised in that the motor includes multiple, each described electricity
Machine is corresponding with arm body described at least one；
The mechanical arm adjusting process carries out the generation step, the first sensing step and the institute to motor each described successively
State the first alignment step.
3. mechanical arm adjusting process as claimed in claim 1, it is characterised in that the motor is coupled with potentiometer, the electricity
The angle adjustment according to residing for the motor of position device being used for accesses resistance, the resistance of the access resistance with residing for the motor
Angle has corresponding relation；The corresponding magnitude of voltage of the first sensing step sensing access resistance；First value of electrical signals
Including the magnitude of voltage.
4. mechanical arm adjusting process as claimed in claim 1, it is characterised in that the mechanical arm adjusting process includes：
Multiple control signals are sequentially generated, different first point of theory of each control signal correspondence；
The generation step, the first sensing step are carried out for control signal each described；
Calculation procedure, calculates the value of electrical signals corresponding with the control signal corresponding for control signal each described
First difference of angle and first point of theory；And
Second alignment step, the motor according to multiple the first difference adjustment.
5. mechanical arm adjusting process as claimed in claim 4, it is characterised in that second alignment step includes：
Sub-step is obtained, the recurrence between first point of theory and first value of electrical signals is obtained using least square method
Straight line；
Adjustment sub-step, the motor according to the regression straight line adjustment.
6. mechanical arm adjusting process as claimed in claim 1, it is characterised in that comprise the following steps：
Moving step, is moved to precalculated position to drive the motor to turn to the second actual angle by the arm body, described pre-
Positioning puts corresponding with the second point of theory of the motor；
Second sensing step, senses second value of electrical signals relevant with second actual angle of the motor output；And
3rd alignment step, adjusts according to the corresponding angle of second value of electrical signals with the second difference of second point of theory
Motor described in school.
7. mechanical arm adjusting process as claimed in claim 6, it is characterised in that the precalculated position includes the machine of the arm body
Tool restraining position.
8. a kind of mechanical arm, can apply the mechanical arm adjusting process as described in claim 1-7 any one to carry out adjustment；It is described
Mechanical arm includes arm body and the motor for driving the arm body motion.
9. a kind of mechanical arm calibration apparatus, for adjustment mechanical arm, the mechanical arm includes arm body and for driving the arm body
The motor of motion, it is characterised in that including：
Generation module, the generation module is used to produce control signal to control the motor to turn to the first actual angle, institute
State control signal corresponding with the first point of theory of the motor；
First sensing module, first sensing module is used to sense the relevant with first actual angle of the motor output
The first value of electrical signals；And
First adjustment module, the first adjustment module is used for according to the corresponding angle of first value of electrical signals and described first
Motor described in first difference adjustment of point of theory.
10. mechanical arm calibration apparatus as claimed in claim 9, it is characterised in that the number of the motor includes multiple, each
The motor is corresponding with arm body described at least one；
The mechanical arm calibration apparatus are used for using the generation module, first sensing module and the first adjustment module
Motor described in adjustment successively.
11. mechanical arm calibration apparatus as claimed in claim 9, it is characterised in that the mechanical arm calibration apparatus include setting
In the potentiometer of the motor, the angle adjustment that the potentiometer is used for according to residing for the motor accesses resistance；
First sensing module includes sensing submodule, and the sensing submodule is used to sense the corresponding electricity of the access resistance
Pressure value；First value of electrical signals includes the magnitude of voltage.
12. mechanical arm calibration apparatus as claimed in claim 9, it is characterised in that the mechanical arm calibration apparatus include：
The generation module includes producing submodule and control submodule；
The generation submodule is used to be sequentially generated multiple control signals, different described of each described control signal correspondence
First point of theory；
The control submodule is used to control described motor to turn to corresponding described the according to each described control signal successively
One actual angle；
First sensing module is used to sense successively first electricity relevant with first actual angle of the motor output
Signal value；
The mechanical arm calibration apparatus include computing module and the second adjustment module；The computing module is used for for described in each
Control signal calculates the value of electrical signals corresponding angle and first point of theory corresponding with the control signal
First difference；The second adjustment module is used for the motor according to multiple the first difference adjustment.
13. mechanical arm calibration apparatus as claimed in claim 12, it is characterised in that the second adjustment module includes：
Submodule is obtained, the acquisition submodule is used to obtain first point of theory and described first using least square method
Regression straight line between value of electrical signals；
Adjustment submodule, the adjustment submodule is used for the motor according to the regression straight line adjustment.
14. mechanical arm calibration apparatus as claimed in claim 9, it is characterised in that the mechanical arm calibration apparatus also include：
Mobile module, the mobile module is used to be moved to precalculated position to drive the motor to turn to second by the arm body
Actual angle, the precalculated position is corresponding with the second point of theory of the motor；
Second sensing module, second sensing module is used to sense the relevant with second actual angle of the motor output
The second value of electrical signals；And
3rd adjustment module, the 3rd adjustment module is used for according to the corresponding angle of second value of electrical signals and described second
Motor described in second difference adjustment of point of theory.
15. mechanical arm calibration apparatus as claimed in claim 14, it is characterised in that the precalculated position includes the arm body
Mechanical position limitation position.
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| CN201710003235.XA CN106826918A (en) | 2017-01-03 | 2017-01-03 | Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm |
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| CN201710003235.XA CN106826918A (en) | 2017-01-03 | 2017-01-03 | Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm |
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| CN201710003235.XA Pending CN106826918A (en) | 2017-01-03 | 2017-01-03 | Mechanical arm adjusting process, mechanical arm calibration apparatus and mechanical arm |
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