CN108247638A - The control method of multiple degrees of freedom rotating mechanical arm - Google Patents

The control method of multiple degrees of freedom rotating mechanical arm Download PDF

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Publication number
CN108247638A
CN108247638A CN201810089456.8A CN201810089456A CN108247638A CN 108247638 A CN108247638 A CN 108247638A CN 201810089456 A CN201810089456 A CN 201810089456A CN 108247638 A CN108247638 A CN 108247638A
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steering engine
mechanical arm
multiple degrees
gripper
control method
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CN201810089456.8A
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CN108247638B (en
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唐达
付群
王德宇
母庆冉
曾宪鹏
岳前进
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Dalian University of Technology
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Dalian University of Technology
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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

The invention discloses a kind of control methods of multiple degrees of freedom rotating mechanical arm, using the method, not only multiple degrees of freedom rotating mechanical arm can have been realized automatically to given three dimensional space coordinate point crawl object, but also can realize linear motion of the multiple degrees of freedom rotating mechanical arm gripper when requiring to consider gripper crawl object direction and when not requiring to consider gripper crawl object direction.According to target point in the coordinate of three-dimensional cartesian coordinate system, add constraints and calculate the attitude angle of each podomere of mechanical arm, gripper is made directly to reach target point, automatic crawl object is pinpointed so as to fulfill multiple degrees of freedom whirler machinery claw.Present invention mainly solves multiple degrees of freedom rotating mechanical arm it is complicated for operation the problem of, simplify the control method of original multiple degrees of freedom rotating mechanical arm.

Description

The control method of multiple degrees of freedom rotating mechanical arm
Technical field
The present invention relates to a kind of control method of mechanical arm, especially a kind of control method of rotating mechanical arm.
Background technology
Instantly manually fishing sea cucumber there are the problems such as of high cost, dangerous height, crew shortage, replaces people to catch with mechanical arm Sea cucumber has become inevitable development trend.And mechanical arm industrial at present belongs to greatly first generation mechanical arm, i.e., artificial open loop Mechanical arm under control, and most of mechanical arms can be only done single repetitive work.Since seabed fishing environment is complicated, sea Join factors, the first generation mechanical arms such as position is not fixed, mechanical arm waterproof degree is inadequate, grasping manipulation is complicated to cannot be directly used to catch Drag for sea cucumber.In order to meet the needs of underwater fishing operation, need to existing machinery arm from structure, control algolithm to control system into Row improves.
Based on the existing mechanical arm by steering engine rotational control motion is controlled with single steering engine mostly, i.e., all steering engines on mechanical arm It is independently controlled.For the six degree of freedom rotating mechanical arm of mainstream, need to control 6 road steering engines.Control input is more, and operates Complexity, because when often adjusting steering engine all the way, gripper can all be rotated with different axis by different radiuses, reach target point in this way It needs to adjust multiple steering engines repeatedly before, not only influences working efficiency, but also do not meet the thinking habit of people's visual control, I.e. up, down, left, right, before and after straight line adjusts.Multiple degrees of freedom rotating mechanical arm on existing assembly line is mostly with action group Mode carries out operation, and essence is that action is weaved into instruction in advance to store, then more than times readings of mechanical arm is allowed to instruct into action Make.This mode is only applicable to that repeatability is higher, and the fixed occasion of target point is not suitable for similar sea cucumber fishing operation scene Lower human-computer interaction and the uncertain situation of target point.
Invention content
The technical problem to be solved in the present invention is to provide a kind of controls of the multiple degrees of freedom rotating mechanical arm with pervasive meaning Method processed, according to target point in the coordinate of three-dimensional cartesian coordinate system, addition constraints simultaneously calculates each podomere of mechanical arm Attitude angle makes gripper directly reach target point, pinpoints automatic crawl object so as to fulfill multiple degrees of freedom whirler machinery claw, i.e., The coordinate in previous moment gripper three dimensions is adjusted according to present instruction, updates coordinate of ground point, so as to fulfill Linear motion control.
The technical proposal of the invention is realized in this way：
The control method of multiple degrees of freedom rotating mechanical arm, includes the following steps, step S1：According to target point at three-dimensional right angle The coordinate of coordinate system, addition constraints calculate the attitude angle of each podomere of mechanical arm；Step S2：According to step S1 Attitude angle determines the rotation angle of each steering engine on mechanical arm；Step S3：Rotation angle according to step S2 determines each rudder Machine PWM value；Step S4：The numerical signal of steering engine PWM value each described in step S3 is sent to each steering engine simultaneously, turns each steering engine It moves the attitude angle described in step S1, realizes overlapping for gripper center and target point, that is, realize gripper to giving The operation of three dimensional space coordinate point.
Preferably, there are two types of the constraintss added in the step S1, respectively mechanical arm brachium it is equal first about Beam condition and mechanical arm brachium is unequal and the second constraints without evident regularity.
Preferably, the multiple degrees of freedom rotating mechanical arm has N roads steering engine (N >=6), wherein steering engine N-1 control machines machinery claw It closes, the rotation of steering engine N-2 control machines machinery claw, steering engine N-N controls chassis rotation, mechanical arm podomere in remaining servos control perpendicular Movement；Using steering engine N- (N-1) rotating shaft center as coordinate origin O, the XOY of coordinate system is put down the coordinate of the three-dimensional cartesian coordinate system Face is parallel with mechanical arm base plane always；Steering engine N- (N-2) and steering engine N- (N-1) rotary shaft distance OD1For L1, steering engine N- (N- And steering engine N- (N-2) rotary shaft distance D 3)1D2For L2, and so on, gripper center to steering engine N-3 rotary shaft distances DnDn-1 For Ln。
Preferably, under equal the first constraints of mechanical arm brachium, i.e. Li=Ln+1-i(1≤i≤n-1, i are integer), When n is odd number, in ODnN-1 point H are taken on line segment1、H2、……Hn-1, make In Hi(1≤i≤n-1, i are integer)；When n is even number, ODnN-1 point H are taken on line segment1、H2、……Hn-1, makeIn Hi (1≤i≤n-1, i are integer).
Preferably, mechanical arm brachium is unequal and the second constraints during without evident regularity under, in polygon OD1D2… DnMiddle connection DnThe polygon with other nonadjacent vertices can be divided into n-1 triangle of non-overlapping copies, be formed with line segment DnD1, DnD2..., DnDn-2, and every section of line segment length is：DnDi=ki×DnDi-1, wherein1≤i ≤ n-2, i are integer, D during i=10As origin O.
Steering engine described in technical solution using pwm pulse width adjusting steering engine rotation angle, period 20ms, 0.5ms~ The pulsewidth high level of 2.5ms corresponds to steering engine 0 degree~180 degree angular range, and linear.Servo driving control panel uses 500~2500 numerical value correspond to 0.5ms~2.5ms high level pulses of servos control output angle, actuator driving plate numerical value and rudder The angle of machine rotation has following relationship：θ be steering engine rotation angle, PWM be actuator driving plate numerical value, θ=0.09 × PW M-45, The control accuracy of steering engine in this way is 3 μ s, and minimum control accuracy can reach 0.3 degree in 2000 pulse duration ranges.
The beneficial effects of the present invention are：
1st, by adding the attitude angle of each podomere of constraints calculating machine arm, and pass through while sent to each steering engine The numerical signal of its PWM value enables each steering engine to cooperate, and the quick and smooth for realizing gripper center to target point moves.
2nd, by the change to constraints, it is equal and unequal two to solve mechanical arm brachium with same technical solution Different problems under kind different situations.
3rd, constraints and relevant parameter are provided using the quantity of N (N >=6) as mechanical arm steering engine, for steering engine number more than 6 Various Mechanical arm control methods provide unified solution, convenient for the unified setting and operation to a variety of mechanical arms.
Description of the drawings
1 six degree of freedom rotating mechanical arm steering engine of attached drawing and to build be schematic diagram.
2 seven freedom rotating mechanical arm steering engine of attached drawing and to build be schematic diagram.
3 six degree of freedom rotating mechanical arm the first constraints drag rough schematic view of attached drawing.
4 seven freedom rotating mechanical arm the first constraints drag rough schematic view of attached drawing.
5 six degree of freedom rotating mechanical arm the second constraints drag rough schematic view of attached drawing.
6 seven freedom rotating mechanical arm the second constraints drag rough schematic view of attached drawing.
Specific embodiment
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in attached drawing 1,2,3,4,5,6, the control method of multiple degrees of freedom rotating mechanical arm includes the following steps, step S1：According to target point in the coordinate of three-dimensional cartesian coordinate system, addition constraints calculates the attitude angle of each podomere of mechanical arm Degree；Step S2：The rotation angle of each steering engine on mechanical arm is determined according to attitude angle described in step S1；Step S3：According to step Rotation angle described in S2 determines each steering engine PWM value；Step S4：The numerical signal of steering engine PWM value each described in step S3 is same When be sent to each steering engine, each steering engine is made to turn to the attitude angle described in step S1, realizes gripper center and target point It overlaps, that is, realizes operation of the gripper to given three dimensional space coordinate point.
As shown in attached drawing 3,4,5,6, there are two types of the constraintss added in the step S1, respectively mechanical arm brachium phase Deng the first constraints and mechanical arm brachium is unequal and the second constraints without evident regularity.
As shown in attached drawing 1,2, the multiple degrees of freedom rotating mechanical arm has N roads steering engine (N >=6), wherein steering engine N-1 control machines Machinery claw opening and closing, the rotation of steering engine N-2 control machines machinery claw, steering engine N-N controls chassis rotate, machinery in remaining servos control perpendicular Arm podomere moves；The coordinate of the three-dimensional cartesian coordinate system is using steering engine N- (N-1) rotating shaft center as coordinate origin O, coordinate system XOY plane it is parallel with mechanical arm base plane always；Steering engine N- (N-2) and steering engine N- (N-1) rotary shaft distance OD1For L1, rudder Machine N- (N-3) and steering engine N- (N-2) rotary shaft distance D1D2For L2, and so on, gripper center to steering engine N-3 rotary shafts away from From DnDn-1For Ln.When target point is known as (x0,y0,z0) when, i.e. DnPoint coordinates is (x0,y0,z0), this coordinate is converted into three-dimensional Polar coordinates (r in space0,θ0,φ0)(r0≤L1+L2+L3).At this point, polygon OD1D2…DnShape is not fixed, each shape Shape all corresponds to the posture during gripper arrival target point of mechanical arm.There is countless polygon OD1D2…DnShape, also have Countless crawl posture can not carry out corresponding Attitude Calculation and gesture stability.So, it would be desirable to constraints is added, is made Polygon OD1D2…DnStaff cultivation, i.e., the correspondence posture of each target point uniquely determine, and could carry out calculating control to it in this way.
As shown in attached drawing 3,4, under the first equal constraints of mechanical arm brachium, i.e. Li=Ln+1-i(1≤i≤n-1, i are Integer), when n is odd number, in ODnN-1 point H are taken on line segment1、H2、……Hn-1, make In Hi(1≤i≤n-1, i are integer)；When n is even number, ODnN-1 point H are taken on line segment1、H2、……Hn-1, makeIn Hi (1≤i≤n-1, i are integer).At this point, polygon OD1D2…DnStaff cultivation, and line segment DnO symmetry axis is line segmentPlace Straight line.As polygon OD1D2…DnAfter staff cultivation, the rotation of the steering engine of mechanical arm podomere movement in control perpendicular can be obtained Gyration, i.e. polygon OD1D2…DnEach interior angle.Steering engine N-N rotation angles are φ0.According to steering engine N-3 to steering engine N-N Rotation angle, can determine the PWM value of this N-2 steering engine, signal is sent to this N-2 steering engine simultaneously, makes it respectively Corresponding theoretical calculation angle is turned to, gripper center is overlapped with target point at this time, realizes multiple degrees of freedom rotating mechanical arm The automatic operation to given three dimensional space coordinate point.
As shown in attached drawing 5,6, mechanical arm brachium is unequal and the second constraints during without evident regularity under, in polygon OD1D2…DnMiddle connection DnThe polygon can be divided into n-1 triangle of non-overlapping copies with other nonadjacent vertices, and right The length of these line segments of connection uses restraint, and makes each triangle all staff cultivations, then polygon OD1D2…DnAlso by entirely about Beam.There are many schemes for being divided into triangle, due to ∠ Dn-1DnO is not related to steering engine rotation angle, without calculate its size, It is calculated to simplify the later stage, connects DnWith other nonadjacent vertices, then there is line segment DnD1, DnD2..., DnDn-2, and every section of length along path It spends and is：DnDi=ki×DnDi-1, wherein1≤i≤n-2, i are integer, D during i=10As origin O.Here kiSelection have reason because working as r0=L1+L2+…+LnWhen, i.e., mechanical arm gripper will reach maximum functional half Diameter, only kiValue just can be fully extended each podomere of mechanical arm in this way.Such scheme also has stealthy restrictive condition, i.e., DnDi-1+DnDi≥Di-1Di, (1≤i≤n-2, i are integer, and D during i=10As origin O), it is calculated as used scheme two, The coordinate of target point to origin need to be more than certain certain value, about kiSelection and stealthy limitation will be exemplified later.Addition Line segment and after constraining its length, each triangle is by staff cultivation, and each triangle length of side according to the length of side it is known that can ask Go out each interior angle of triangle, and then acquire polygon OD1D2…DnInterior angle, that is, control perpendicular in mechanical arm podomere fortune The rotation angle of dynamic steering engine.
As shown in attached drawing 1,3, by taking the control method under the first constraints of six degree of freedom rotating mechanical arm as an example.It herein refers to Six degree of freedom rotating mechanical arm have a 6 road steering engines, steering engine 6-1 control machine machinery claw opening and closing, the rotation of steering engine 6-2 control machines machinery claw, rudder Mechanical arm podomere movement in machine 6-6 controls chassis rotation, steering engine 6-3, steering engine 6-4 and steering engine 6-5 control perpendiculars.With steering engine 6-5 rotating shaft center is origin O, establishes three-dimensional cartesian coordinate system as depicted, wherein XOY plane always with mechanical arm Base plane is parallel.The length of each podomere of mechanical arm is it is known that steering engine 6-4 and steering engine 6-5 rotary shaft distances OD1For L1, steering engine 6- 3 and steering engine 6-4 rotary shaft distances D1D2For L2, gripper center to steering engine 6-3 rotary shaft distances D2D3For L3, by one premise of scheme Condition knows L1=L3。
When target point is known as (x0,y0,z0) when, i.e. D3Point coordinates is (x0,y0,z0), this coordinate is converted into three-dimensional space Interior polar coordinates (r0,θ0,φ0)(r0≤L1+L2+L3).In OD3Two point H are taken on line segment1And H2, makeAdd in constraints D2H2⊥D3O is in H2, D1H1⊥D3O is in H1, at this point, four Side shape OD1D2D3Staff cultivation, and H1H2It is parallel and equal to D1D2, as shown in Fig. 2, asking the rotation of steering engine 6-3, steering engine 6-4 and steering engine 6-5 Gyration seeks ∠ D3D2D1、∠D2D1O and ∠ D1OD3(θ-∠D1OD3The as rotation angle of steering engine 6-5, and known to θ), as a result such as Under：
Steering engine 6-6 rotation angles are φ0.According to steering engine 6-3 to the rotation angle of steering engine 6-6, can determine this four Signal is sent to this four steering engines, it is made respectively to turn to corresponding theoretical calculation angle by the PWM value of a steering engine simultaneously, this When gripper center overlapped with target point, realize six degree of freedom rotating mechanical arm automatically to given three dimensional space coordinate point Operation.
As shown in attached drawing 2,4, by taking the control method under the first constraints of seven freedom rotating mechanical arm as an example.It herein refers to Seven freedom rotating mechanical arm have a 7 road steering engines, steering engine 7-1 control machine machinery claw opening and closing, the rotation of steering engine 7-2 control machines machinery claw, rudder Machine 7-7 controls chassis rotation, steering engine 7-3, steering engine 7-4, steering engine 7-5 and steering engine 7-6 control mechanical arm podomere fortune in perpendicular It is dynamic.Using steering engine 7-6 rotating shaft center as origin O, three-dimensional cartesian coordinate system as depicted is established, wherein XOY plane begins It is parallel with mechanical arm base plane eventually.The length of each podomere of mechanical arm is it is known that steering engine 7-5 and steering engine 7-6 rotary shaft distances OD1 For L1, steering engine 7-4 and steering engine 7-5 rotary shaft distances D1D2For L2, steering engine 7-3 and steering engine 7-4 rotary shaft distances D2D3For L3, machinery Pawl center is to steering engine 7-3 rotary shaft distances D3D4For L4, L is known by one precondition of scheme1=L4, L2=L3。
When target point is known as (x0,y0,z0) when, i.e. D4Point coordinates is (x0,y0,z0), this coordinate is converted into three-dimensional space Interior polar coordinates (r0,θ0,φ0)(r0≤L1+L2+L3).In OD4Three point H are taken on line segment3、H2And H1, make
Add in constraints D3H3⊥D4O is in H3, D2H2⊥D4O is in H2, D1H1⊥D4O is in H1, at this point, pentagon OD1D2D3D4 Staff cultivation, and line segment D4O symmetry axis is line segment D2H2Place straight line, as shown in Figure 4.Ask steering engine 7-3, steering engine 7-4, steering engine 7-5 ∠ D are sought with the rotation angle of steering engine 7-64D3D2、∠D3D2D1、∠D2D1O and ∠ D1OD3(θ-∠D1OD3As steering engine 7-6's Rotation angle, and known to θ), it is as a result as follows：
Steering engine 7-7 rotation angles are φ0.According to steering engine 7-3 to the rotation angle of steering engine 7-7, can determine this five Signal is sent to this five steering engines, it is made respectively to turn to corresponding theoretical calculation angle by the PWM value of a steering engine simultaneously, this When gripper center overlapped with target point, realize seven freedom rotating mechanical arm automatically to given three dimensional space coordinate point Operation.
The first constraints is added, the control method of multiple degrees of freedom rotating mechanical arm calculates simply, and error is smaller, and work is empty Between with single steering engine control maximum functional section it is identical, i.e., the damage on no operation interval subtracts, and pass through experimental verification the method It can be achieved on, but need to pay attention to symmetrical mechanical arm podomere equal length in mechanical arm Design and manufacturing process, it is equal Degree will influence error size of the gripper to target point.
As shown in attached drawing 1,5, by taking the control method under the second constraints of six degree of freedom rotating mechanical arm as an example.Connection D3D1, add in constraints D3D1=k × r0, whereinQuadrangle OD at this time1D2D3Staff cultivation, such as Fig. 5 institutes Show.The rotation angle of steering engine 6-3, steering engine 6-4 and steering engine 6-5 is asked to seek ∠ D3D2D1、∠D2D1O and ∠ D1OD3(θ-∠D1OD3I.e. For the rotation angle of steering engine 6-5, and known to θ), it is as a result as follows：
Steering engine 6-6 rotation angles are φ0.According to steering engine 6-3 to the rotation angle of steering engine 6-6, can determine this four Signal is sent to this four steering engines, it is made respectively to turn to corresponding theoretical calculation angle by the PWM value of a steering engine simultaneously, this When gripper center overlapped with target point, realize six degree of freedom rotating mechanical arm automatically to given three dimensional space coordinate point Operation.Work as r0=L1+L2+L3When, D3D1=k × r0=L2+L3=D1D2+D2D3=D3O-D1O, i.e. D3、D2、D1It is conllinear with 4 points of O, Mechanical arm is able to full extension.If k takes other values, then the gripper of mechanical arm is unable to full extension, i.e., cannot be in maximum functional Operation under radius reduces its working space.It should be noted that D1D3+D3O≥D1O, i.e.,That is, target point to original The distance of point cannot be less than
As shown in attached drawing 2,6, by taking the control method under the second constraints of seven freedom rotating mechanical arm as an example.Connection D4D1And D4D2, add in constraints D4D1=k1×r0, D4D2=k2×D4D1, wherein Pentagon OD at this time1D2D3D4Staff cultivation, as shown in Figure 6.Seek the rotation angle of steering engine 7-3, steering engine 7-4, steering engine 7-5 and steering engine 7-6 Degree seeks ∠ D4D3D2、∠D3D2D1、∠D2D1O and ∠ D1OD3(θ-∠D1OD3The as rotation angle of steering engine 6-5, and known to θ), knot Fruit is as follows：
Steering engine 7-7 rotation angles are φ0.According to steering engine 7-3 to the rotation angle of steering engine 7-7, can determine this five Signal is sent to this five steering engines, it is made respectively to turn to corresponding theoretical calculation angle by the PWM value of a steering engine simultaneously, this When gripper center overlapped with target point, realize seven freedom rotating mechanical arm automatically to given three dimensional space coordinate point Operation.It should be noted that D1D4+D4O≥D1O,D2D4+D4D1≥D2D1, i.e.,And
The second constraints is added, the control method applicability of multiple degrees of freedom rotating mechanical arm is good, calculates simply, error is several It is 0, is particularly suitable for the irregular mechanical arm control of each podomere length.Working space is than the operation interval under single steering engine control It is small, because there is recessive constraints, prevent target point to the distance of origin from being less than one and mechanical arm podomere length Relevant definite value.But because this certain value can artificially change mechanical arm podomere length and be adjusted, and usually this machine The region for the target point that machinery claw cannot reach is smaller, does not influence the groundwork region of mechanical arm, so the second constraints is not Lose the preferable selection to add constraints.
As the centre coordinate (x of known current multiple degrees of freedom rotating mechanical arm gripper0,y0,z0) when, input state is read, Such as receive z0The instruction of reduction, then coordinate of ground point is (x0,y0,z0-P) (P is step-length, can program and adjust step sizes realization The adjusting of gripper movement velocity), then the algorithm by above-mentioned multiple degrees of freedom rotating mechanical arm fixed-point motion, make mechanical arm Gripper reaches target point.Target point will be used as z at this time0The centre coordinate of multiple degrees of freedom rotating mechanical arm gripper after reduction (x0,y0,z0), that is, refresh coordinate, later each moment all repeat the above steps, along remaining reference axis increase and decrease similarly, so as to fulfill Multiple degrees of freedom rotating mechanical arm gripper center moves along a straight line.
It, at this time should be by the steering engine moved for mechanical arm podomere in perpendicular when considering that gripper captures object direction N-3 is vacant out, and for the adjustment of gripper posture, there are two spatial degrees of freedom for such gripper, can be in its working face Complete the crawl of either direction.Steering engine N-1 control machine machinery claw opening and closing, steering engine N-2 and the rotation of steering engine N-3 control machines machinery claw, steering engine N-N controls chassis rotates, mechanical arm podomere movement in remaining servos control perpendicular.Steering engine N-1, steering engine N-2 and steering engine N-3 It captures and controls for gripper, do not influence gripper movement, so individually considering, not in research range of the present invention.Consider machinery When pawl captures direction, the target of mechanical arm controlled motion is that coordinate of ground point is made to be overlapped with steering engine N-3 rotating shaft center, is erected at this time The steering engine quantity of mechanical arm podomere movement becomes n-1 from n in straight plane, i.e., by polygon OD1D2…DnBecome polygon OD1D2… Dn-1, control method still can refer to above two method, so as to complete to consider the multiple degrees of freedom rotation in gripper crawl object direction Manipulator motion controls.
The above only invents preferable specific embodiment, but protection scope of the present invention is not limited thereto, and appoints What in the coordinate of three-dimensional cartesian coordinate system, adds constraints of the present invention, it is each to calculate mechanical arm according to target point The attitude angle of podomere, makes gripper directly reach target point, and automatic crawl is pinpointed so as to fulfill multiple degrees of freedom whirler machinery claw The mentality of designing of object belongs to the protection domain of the technology of the present invention design, and any one skilled in the art is at this It invents in the technical scope disclosed, according to the technique and scheme of the present invention and its design is subject to equivalent substitution or change, should all cover Within protection scope of the present invention.

Claims (5)

1. the control method of multiple degrees of freedom rotating mechanical arm, which is characterized in that include the following steps：
Step S1：According to target point three-dimensional cartesian coordinate system coordinate, addition constraints calculate each podomere of mechanical arm Attitude angle；
Step S2：Attitude angle according to step S1 determines the rotation angle of each steering engine on mechanical arm；
Step S3：Rotation angle according to step S2 determines each steering engine PWM value；
Step S4：The numerical signal of steering engine PWM value each described in step S3 is sent to each steering engine simultaneously, turns to each steering engine Attitude angle described in step S1, realization gripper center are overlapped with target point, that is, realize gripper to given three-dimensional The operation of space coordinate point.
2. control method according to claim 1, it is characterised in that：The constraints added in the step S1 has two Kind, respectively the first equal constraints of mechanical arm brachium and mechanical arm brachium it is unequal and without evident regularity second constraint Condition.
3. control method according to claim 1 or 2, it is characterised in that：The multiple degrees of freedom rotating mechanical arm has N roads rudder Machine (N >=6), wherein steering engine N-1 control machines machinery claw opening and closing, the rotation of steering engine N-2 control machines machinery claw, steering engine N-N controls chassis rotation, Mechanical arm podomere moves in remaining servos control perpendicular；The coordinate of the three-dimensional cartesian coordinate system is revolved with steering engine N- (N-1) Spindle central is coordinate origin O, and the XOY plane of coordinate system is parallel with mechanical arm base plane always；Steering engine N- (N-2) and steering engine N- (N-1) rotary shaft distance OD1For L1, steering engine N- (N-3) and steering engine N- (N-2) rotary shaft distance D1D2For L2, and so on, machine Machinery claw center is to steering engine N-3 rotary shaft distances DnDn-1For Ln。
4. control method according to claim 3, it is characterised in that：Under the first equal constraints of mechanical arm brachium, That is Li=Ln+1-i(1≤i≤n-1, i are integer), when n is odd number, in ODnTaken on line segment n-1 points H1, H2 ... Hn-1, Make DiHi⊥DnO is in Hi(1≤i≤n-1, i are integer)；When n is even number, ODnN-1 point H are taken on line segment1、H2、……Hn-1, makeDiHi⊥DnO is in Hi (1≤i≤n-1, i are integer).
5. control method according to claim 3, it is characterised in that：Mechanical arm brachium is unequal and without evident regularity Under two constraintss, in polygon OD1D2…DnMiddle connection DnThe polygon can be divided into other nonadjacent vertices and do not weighed mutually N-1 folded triangle, is formed with line segment DnD1, DnD2..., DnDn-2, and every section of line segment length is：DnDi=ki×DnDi-1, InI is integer, D during i=10As origin O.
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Cited By (5)

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CN112476437A (en) * 2020-12-08 2021-03-12 北京航天新立科技有限公司 Flexible automatic grabbing equipment control method
CN113580140A (en) * 2021-08-18 2021-11-02 连江福桔电子有限公司 Control method and terminal of seven-axis mechanical arm

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CN109287578A (en) * 2018-11-08 2019-02-01 中国农业大学 A kind of sea cucumber fishing system
CN109287578B (en) * 2018-11-08 2023-07-04 中国农业大学 Sea cucumber catching system
CN110142756A (en) * 2019-03-29 2019-08-20 盐城工学院 A kind of six-joint robot that can be achieved to be precisely controlled
CN111498029A (en) * 2020-04-23 2020-08-07 山东大学 Auxiliary device is catched to seabed
CN112476437A (en) * 2020-12-08 2021-03-12 北京航天新立科技有限公司 Flexible automatic grabbing equipment control method
CN113580140A (en) * 2021-08-18 2021-11-02 连江福桔电子有限公司 Control method and terminal of seven-axis mechanical arm

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