CN108466266A - Mechanical arm motion control method and system - Google Patents
Mechanical arm motion control method and system Download PDFInfo
- Publication number
- CN108466266A CN108466266A CN201810238375.XA CN201810238375A CN108466266A CN 108466266 A CN108466266 A CN 108466266A CN 201810238375 A CN201810238375 A CN 201810238375A CN 108466266 A CN108466266 A CN 108466266A
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- China
- Prior art keywords
- mechanical arm
- mouses
- controller
- control
- arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40179—Design of controller
Abstract
Read the position and posture of the posture and button and mechanical arm of 3D mouses respectively the invention discloses the controller of a kind of mechanical arm motion control method, including mechanical arm；It is joint motions pattern or end movement pattern with 3D mousebuttons switching mechanical arm；Under joint motions pattern, the control information of controller acquisition 3D mouses simultaneously obtains each joint current location of mechanical arm, and controller is moved according to the control information control machinery shoulder joint of acquisition；Under end movement pattern, the control information of controller acquisition 3D mouses simultaneously obtains mechanical arm tail end current location, and controller makes mechanical arm tail end reach new position according to the movement of the control information control machinery shoulder joint of acquisition.The invention also discloses a kind of manipulator motion control systems for realizing the above method.The present invention can to mechanical arm carry out remote control, and can simultaneously control machinery arm joint motions and end movement.
Description
Technical field
The invention belongs to machine control techniques field, more particularly to a kind of mechanical arm is intended to flowing control method and system.
Background technology
It is mainly the application of the mode control machinery arm using teaching and online programming, this side in industry spot at present
Method is more mature and widely used by major manufacturer of robot.But for example needing remote control machine in many cases,
Tool arm or without enough conditions installation teaching machine in the case of the above method and be not suitable for.Especially for mounted on mobile flat
It, can not be by way of wired connection teaching machine come the movement of control machinery arm for mechanical arm on platform.In addition the prior art
In straighforward operation bar can also be used to carry out simple remote control to mechanical arm, but be unable to reach while mechanical arm closed
Save the purpose of motion control and end movement control.
Invention content
The technical problem to be solved by the present invention is to remote control can be carried out to mechanical arm by providing one kind, and can be simultaneously
The mechanical arm motion control method and system of the shutdown movement and end movement of control machinery arm.
In order to solve the above technical problems, mechanical arm motion control method provided by the present invention includes the following steps：
S1：The controller of mechanical arm reads the posture of 3D mouses and the position and posture of button and mechanical arm respectively.
S2：It is joint motions pattern or end movement pattern with 3D mousebuttons switching mechanical arm.
Under joint motions pattern, the control information of controller acquisition 3D mouses simultaneously obtains each joint present bit of mechanical arm
It sets, controller relative to the increase of current location or subtracts according to the 3D mouse control informations calculating machine arm corresponding joint of acquisition
Few value, and new joint position is sent to mechanical arm, manipulator motion to new coordinate position.
Under end movement pattern, the control information of controller acquisition 3D mouses simultaneously obtains mechanical arm tail end current location,
Controller according to the control information computer tool arm ends of the 3D mouses of acquisition relative to the increase of the reference axis of changing coordinates or
Person's reduced value, and new coordinate value is sent to mechanical arm, manipulator motion to new coordinate position.
In the above-mentioned technical solutions, controller acquires the control signal of 3D mouses and position and posture that mechanical arm is current
Data, and corresponding sports are made according to the control signal, position and attitude data control machinery arm, utilize 3D to realize
Control of the mouse to manipulator motion.It is easy to use due to 3D mouse low-profiles, thus manipulator motion is carried out using it
Control not only has better convenience, but also can extend suitable environment, such as is not suitable for the environment of wired connection teaching machine.It is above-mentioned
Technical solution is joint motions pattern or end movement pattern using 3D mousebuttons switching mechanical arm, and then controller is according to 3D
The control information of mouse carries out joint motions control to mechanical arm respectively or end movement controls, to reach while control
The purpose of the shutdown movement and end movement of mechanical arm so that the movement of mechanical arm is more accurate, and 3D mouses itself use in addition
Convenience, but also the flexibility higher of the motion control of mechanical arm.
As being further improved for technical solution of the present invention, under joint motions pattern, 3D mouse left and right moving control machines
The first joint of tool arm positive and negative rotation, 3D mouses are moved forward and backward control machinery arm second joint positive and negative rotation, and 3D mouses move up and down
Control machinery arm third joint positive and negative rotation, 3D mouse long-press buttons add the 4th joint positive and negative rotation of left and right moving control mechanical arm
Dynamic, 3D mouse long-press buttons, which add, is moved forward and backward the 5th joint positive and negative rotation of control machinery arm, and 3D mouse long-press buttons are added and moved down
Dynamic the 6th joint positive and negative rotation of control machinery arm.Under end movement pattern, 3D mouses move up and down control machinery arm end phase
It moves up and down for basis coordinates system Z axis, 3D mouses are moved forward and backward control machinery arm end relative to being transported before and after basis coordinates system X-axis
Dynamic, 3D mouse left and right moving control mechanical arm tail ends are moved forward and backward relative to basis coordinates system Y-axis, and 3D mouse long-press buttons add down
Relative to basis coordinates system Z axis positive and negative rotation, 3D mouse long-press buttons add back-and-forth motion control machinery for mobile control machinery arm end
Arm end relative to basis coordinates system X-axis positive and negative rotation, 3D mouse long-press buttons add left and right moving control mechanical arm tail end relative to
Basis coordinates system Y-axis positive and negative rotation.
Above-mentioned technical proposal takes full advantage of the Stereo control function of 3D mouses, and the attitudes vibration by 3D mouses itself is
It can be achieved to control the omnibearing stereo of manipulator motion, control process is more convenient flexibly.Due to each joint of mechanical arm
It can be controlled, further improve the accuracy of manipulator motion.
As being further improved for technical solution of the present invention, between the controller and 3D mouses and/or the controller
Wireless telecommunications are used between mechanical arm, so that this method is not limited by circuit, are suitable under various use scenes, example
Such as motion controls of the mechanical arm on a mobile platform or under other unsuitable scenes for using circuit and teaching machine, it is applicable in
Range is wider, and the remote control of the movement to mechanical arm is also achieved using wireless communication mode.
As being further improved for technical solution of the present invention, assisted using based on TCP/IP between the controller and mechanical arm
The wireless connection of view, long transmission distance are suitable for remote control of the controller to mechanical arm.
Carried out data transmission using socket modes between the controller and mechanical arm, is suitable for controller and mechanical arm
Between data transmission and remote control.
In order to solve the above technical problems, manipulator motion control system provided by the present invention includes controller and 3D mouse
Mark, the controller carry out data transmission with 3D mouses and mechanical arm respectively, and the controller is used to acquire the control of 3D mouses
Signal and mechanical arm processed current position and attitude data, and according to the control signal, position and attitude data control machine
Tool arm makes corresponding sports.
In the above-mentioned technical solutions, controller acquires the control signal of 3D mouses and position and posture that mechanical arm is current
Data, and corresponding sports are made according to the control signal, position and attitude data control machinery arm, utilize 3D to realize
Control of the mouse to manipulator motion.It is easy to use due to 3D mouse low-profiles, thus manipulator motion is carried out using it
Control not only has better convenience, but also can extend suitable environment, such as is not suitable for the environment of wired connection teaching machine.
As being further improved for technical solution of the present invention, the movement of the mechanical arm includes joint motions and end fortune
It is dynamic, to which controller carries out joint motions control or end movement control to mechanical arm respectively according to the control information of 3D mouses
System has achieved the purpose that shutdown movement and the end movement of control machinery arm simultaneously so that the movement of mechanical arm is more accurate, adds
The convenience that uses of 3D mouses itself, but also the flexibility higher of the motion control of mechanical arm.
As being further improved for technical solution of the present invention, joint motions pattern and end are switched by the 3D mousebuttons
End motion pattern, handover convenience higher.
As being further improved for technical solution of the present invention, between the controller and 3D mouses and/or the controller
Wireless telecommunications are used between mechanical arm, so that this system is not limited by circuit, are suitable under various use scenes, example
Such as motion controls of the mechanical arm on a mobile platform or under other unsuitable scenes for using circuit and teaching machine, it is applicable in
Range is wider, and the remote control of the movement to mechanical arm is also achieved using wireless communication mode.
Description of the drawings
Fig. 1 is the system schematic of the specific embodiment of the invention.
Fig. 2 is the structural schematic diagram of six articulated mechanical arms in the specific embodiment of the invention.
Fig. 3 is the action schematic diagram of 3D mouses in the specific embodiment of the invention.
In figure：1,3D mouse；1.1, button；2, controller；3, mechanical arm；6-1, the first joint；6-2, second joint；6-
3, third joint；6-4, the 4th joint；6-5, the 5th joint；6-6, the 6th joint；6-7, mechanical arm tail end.
Specific implementation mode
In embodiment given in this article, which includes the following steps：
S1：The controller 2 of mechanical arm 3 reads the position and appearance of the posture and button and mechanical arm 3 of 3D mouses 1 respectively
State.
S2：It is joint motions pattern or end movement pattern with the button switching mechanical arm 3 of 3D mouses 1, such as can adopts
It is switched over the mode for double-clicking button.
Under joint motions pattern, controller 2 acquires the control information of 3D mouses 1 and to obtain 3 each joint of mechanical arm current
Position, controller 2 control increase of 3 corresponding joint of information computer tool arm relative to current location according to the 3D mouses 1 of acquisition
Or reduced value, and new joint position is sent to mechanical arm 3, mechanical arm 3 moves to new coordinate position.
Under end movement pattern, controller 2 acquires the control information of 3D mouses 1 and to obtain mechanical arm tail end 6-7 current
Position, coordinate of the controller 2 according to the control information computer tool arm end 6-7 of the 3D mouses 1 of acquisition relative to changing coordinates
The increase of axis or reduced value, and new coordinate value is sent to mechanical arm 3, mechanical arm 3 moves to new coordinate position.
As shown in Figure 1, in embodiment given in this article, for realizing the machine of above-mentioned mechanical arm motion control method
Tool arm kinetic control system includes controller 2 and 3D mouses 1, and controller 2 carries out nothing with 3D mouses 1 and mechanical arm 3 respectively
Line communicates, control signal and mechanical arm 3 of the controller 2 for acquiring 3D mouses 1 current position and attitude data, and according to
Control signal, position and attitude data control machinery arm 3 make corresponding sports.The movement of mechanical arm 3 includes joint motions and end
End motion, and be joint motions pattern and end movement pattern to be switched by the button 1.1 of 3D mouses 1, such as may be used
The mode for double-clicking button 1.1 switches over.
As shown in Fig. 2, in above-mentioned mechanical arm motion control method and system, mechanical arm 3 is six arm configurations, between each arm
It is connected by joint.Specifically, one end of arm I is connected by the first joint 6-1 with pedestal, the other end of arm I is closed by second
Section 6-2 be connected with one end of arm II, the other end of arm II is connected by third joint 6-3 with one end of arm III, arm III it is another
End is connected by the 4th joint 6-4 with one end of arm IV, and the other end of arm IV is connected with the 5th joint 6-5 with one end of arm V,
The other end of arm V is connected by the 6th joint 6-6 with arm VI, and the other end of arm VI is connected with mechanical arm tail end 6-7.It is each to close
Section is configured with joint motor, and controller 2 controls the operation of joint motor.
As shown in figure 3,3D mouses 1 have function switch button 1.1, in above-mentioned mechanical arm motion control method and system,
3D mouses 1 have six kinds of athletic postures, be respectively move left and right in face of button (in Fig. 3 shown in 1-1, hereinafter referred or so shifting
It is dynamic), be moved forward and backward in face of button (in Fig. 3 shown in 1-2, hereinafter referred is moved forward and backward), move up and down in face of button (1-3 in Fig. 3
Shown, hereinafter referred moves up and down), long-press button add move left and right, long-press button adds back-and-forth motion, long-press button is plus moving down
It is dynamic.
Wireless telecommunications are used between controller 2 and 3D mouses 1, such as bluetooth communication may be used, and can also use other
Suitable method.Wireless telecommunications are equally used between controller 2 and mechanical arm 3, for example, by using wirelessly connecting based on ICP/IP protocol
It connecing, each joint of mechanical arm 3 and terminal position (or coordinate) and posture information are sent to controller 2 by way of socket,
The control instruction of controller 2 is sent to mechanical arm 3 by way of socket.
In above-mentioned mechanical arm motion control method and system, under joint motions pattern, controller 2 acquires 3D mouses 1
Control information (i.e. the athletic posture of 3D mouses 1) and obtain 3 each joint current location of mechanical arm, controller 2 is according to acquisition
Increase or reduced value of 3 corresponding joint of control information computer tool arm of 3D mouses 1 relative to current location, such as will correspond to
Joint increases relative to current location or reduces 0.1rad (data can be changed, for governing speed and precision), that is, needs pair
Joint forward and backward (or suitable, turn counterclockwise) 0.1rad is answered, to obtain new joint coordinates position, and will be calculated new
Joint coordinates position is sent to mechanical arm 3, and mechanical arm 3 executes the control instruction of controller 2, the joint motor operation of corresponding joint
Make articulation to corresponding position, is also equivalent to mechanical arm 3 and moves to new coordinate position.
Particularly, under joint motions pattern, 1 left and right moving control mechanical arm of 3D mouses, 3 first joint 6-1 positive and negative rotations
It is dynamic, this is further described below：When 3D mouses 1 move left and right, the inside of 3D mouses 1 can send out moved left and right with it is corresponding
Attitude signal is simultaneously sent to controller 2, and controller 2 is by attitude signal equity or is translated as 3 first joint 6-1 of control machinery arm
Positive and negative rotation signal (such as need the first joint 6-1 relative to current location just or reverse turn 0.1rad), it is new to obtain
Joint coordinates position, and calculated new coordinate position is sent to mechanical arm 3.The semaphore sent out by controller 2
3 first joint motor of tool arm is run, and so that the first joint 6-1 is made and is correspondingly rotated.If controller 2 detects 3D mouses 1 thereafter
Still in the state that moves left and right, then 3 first joint 6-1 of mechanical arm is rotated further that (each rotation unit could be provided as
0.1rad or other appropriate amounts).
Ibid principle, 3D mouses 1 are moved forward and backward 3 second joint 6-2 positive and negative rotations of control machinery arm, are moved down on 3D mouses 1
Dynamic 3 third joint 6-3 positive and negative rotations of control machinery arm.
If long-press button 1.1, which adds, moves left and right 3D mouses 1, the button letter of the stabilization of long period is sent out to controller 2
Number, and controller 2 receives the attitude signal moved left and right, controller 2 will receive both 3D mouse signals equities or translation
In order to control the 4th joint 6-4 positive and negative rotations of mechanical arm 3 signal (such as need the 4th joint 6-4 relative to current location just or
Reverse turn 0.1rad), to obtain new joint coordinates position, and calculated new coordinate position is sent to mechanical arm 3.
The 4th joint motor of signal mechanical arm 3 operation sent out by controller 2, makes the 4th joint 6-4 make and correspondingly rotates.Thereafter
If controller 2 detects 3D mouses 1 still in long-press button 1.1 plus moves left and right state, the 4th joint 6-4 of mechanical arm 3 after
Continuous rotation (each rotation unit can be set to 0.1rad or other appropriate amounts).
Ibid principle, the 5th joint 6-5 positive and negative rotations of 1 long-press button 1.1 of 3D mouses plus back-and-forth motion control machinery arm 3,
1 long-press button 1.1 of 3D mouses, which adds, moves up and down the 6th joint 6-6 positive and negative rotations of control machinery arm 3.
Under end movement pattern, controller 2 acquires the control information (i.e. the athletic posture of 3D mouses 1) of 3D mouses 1 simultaneously
Obtain mechanical arm tail end 6-7 current locations, controller 2 is according to the control information computer tool arm end 6-7 of the 3D mouses 1 of acquisition
Increase, reduced value or the positive and negative rotational value relative to reference axis of reference axis relative to changing coordinates, such as by mechanical arm
End 6-7 increases relative to current location corresponding some or certain reference axis either reduces 0.01 or relative to some coordinate
Axis forward and backward (or suitable, counterclockwise turn) 0.1rad (data can be changed, for governing speed and precision), to obtain new machine
Tool arm end 6-7 coordinate positions, and calculated new mechanical arm tail end 6-7 coordinate values are sent to mechanical arm 3, mechanical arm 3
Execute the control instruction of controller 2, mechanical arm tail end 6-7 moves to corresponding position, be also equivalent to mechanical arm 3 move to it is new
Coordinate position.
Particularly, under end movement pattern, 3D mouses 1 move up and down control machinery arm end 6-7 relative to basis coordinates
It is that Z axis moves up and down, comparison is further described below：When 3D mouses 1 move up and down, the inside of 3D mouses 1 can send out with above and below it
Mobile corresponding attitude signal is simultaneously sent to controller 2, and controller 2 is by attitude signal equity or is translated as control machinery arm
Signal that end 6-7 moves up and down relative to basis coordinates system Z axis (such as need mechanical arm tail end 6-7 relative to basis coordinates system Z axis
Increase or reduce 0.01), to obtain new mechanical arm tail end 6-7 coordinate positions, and the mechanical arm in order to control inside device 2 is inverse
Kinematic Algorithms input mechanical arm tail end 6-7 along Z axis up or down move after homogeneous transform matrix, machine is obtained by sequential operation
3 each joint of tool arm needs the angle rotated.The new coordinate value of mechanical arm tail end 6-7 is sent to mechanical arm 3 by controller 2,
Under the control of controller 2, each joint motor operation makes the corresponding angle of each articulation so that mechanical arm tail end 6-7 fortune
Move new coordinate position.If controller 2 detects 3D mouses 1 still in the state that moves left and right, mechanical arm tail end 6-7 thereafter
Continue movement (each motor unit could be provided as 0.01 or other appropriate amounts).
Ibid principle, 3D mouses 1 are moved forward and backward control machinery arm end 6-7 and are moved forward and backward relative to basis coordinates system X-axis, 3D
1 left and right moving control mechanical arm tail end 6-7 of mouse is moved forward and backward relative to basis coordinates system Y-axis.
If long-press button 1.1, which adds, moves up and down 3D mouses 1, the button letter of the stabilization of long period is sent out to controller 2
Number, and controller 2 receives the attitude signal moved up and down, controller 2 will receive both 3D mouse signals equities or translation
Mechanical arm tail end 6-7 (such as needs mechanical arm tail end 6-7 opposite relative to the signal of basis coordinates system Z axis positive and negative rotation in order to control
In Z axis just or reverse turn 0.1rad), to obtain new mechanical arm tail end 6-7 coordinate positions, and the machine inside device 2 in order to control
Tool arm Arithmetic of inverse kinematics input mechanical arm tail end 6-7 along Z axis just or reversion after homogeneous transform matrix, obtained by sequential operation
The angle for needing to rotate to 3 each joint of mechanical arm.The new coordinate value of mechanical arm tail end 6-7 is sent to mechanical arm by controller 2
3, under control of the controller 2, each joint motor operation makes the corresponding angle of each articulation so that mechanical arm tail end 6-
7 move to new coordinate position.If controller 2 detects 3D mouses 1 still in long-press button 1.1 plus moves up and down shape thereafter
State, then mechanical arm tail end 6-7 continue movement (each motor unit could be provided as 0.01 or other appropriate amounts).
Ibid principle, 1 long-press button 1.1 of 3D mouses plus back-and-forth motion control machinery arm end 6-7 are relative to basis coordinates system X
Axis positive and negative rotation, 1 long-press button 1.1 of 3D mouses plus left and right moving control mechanical arm tail end 6-7 are positive and negative relative to basis coordinates system Y-axis
Rotation.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. mechanical arm motion control method includes the following steps：
S1：The controller of mechanical arm reads the posture of 3D mouses and the position and posture of button and mechanical arm respectively；
S2：It is joint motions pattern or end movement pattern with 3D mousebuttons switching mechanical arm；
Under joint motions pattern, the control information of controller acquisition 3D mouses simultaneously obtains each joint current location of mechanical arm, controls
Increase or reduced value of the device processed according to the 3D mouse control information calculating machine arm corresponding joints of acquisition relative to current location,
And new joint position is sent to mechanical arm, manipulator motion to new coordinate position；
Under end movement pattern, the control information of controller acquisition 3D mouses simultaneously obtains mechanical arm tail end current location, controls
Device relative to the increase of the reference axis of changing coordinates or subtracts according to the control information computer tool arm ends of the 3D mouses of acquisition
Few value, and new coordinate value is sent to mechanical arm, manipulator motion to new coordinate position.
2. mechanical arm motion control method according to claim 1, it is characterised in that：Under joint motions pattern, 3D mouse
The first joint of left and right moving control mechanical arm positive and negative rotation is marked, 3D mouses are moved forward and backward control machinery arm second joint positive and negative rotation
Dynamic, 3D mouses move up and down control machinery arm third joint positive and negative rotation, and 3D mouse long-press buttons add left and right moving control mechanical
The 4th joint positive and negative rotation of arm, 3D mouse long-press buttons, which add, is moved forward and backward the 5th joint positive and negative rotation of control machinery arm, 3D mouses
Long-press button, which adds, moves up and down the 6th joint positive and negative rotation of control machinery arm.
3. mechanical arm motion control method according to claim 1 or 2, it is characterised in that：Under end movement pattern, 3D
Mouse moves up and down control machinery arm end and moves up and down relative to basis coordinates system Z axis, and 3D mouses are moved forward and backward control machinery arm
End is moved forward and backward relative to basis coordinates system X-axis, before 3D mouse left and right moving control mechanical arm tail ends are relative to basis coordinates system Y-axis
After move, 3D mouse long-press buttons, which add, moves up and down control machinery arm end relative to basis coordinates system Z axis positive and negative rotation, 3D mouses
Long-press button, which adds, is moved forward and backward control machinery arm end relative to basis coordinates system X-axis positive and negative rotation, and 3D mouse long-press buttons add a left side
Control machinery arm end is moved right relative to basis coordinates system Y-axis positive and negative rotation.
4. mechanical arm motion control method according to claim 1, it is characterised in that：Between the controller and 3D mouses
And/or wireless telecommunications are used between the controller and mechanical arm.
5. mechanical arm motion control method according to claim 1, it is characterised in that：Between the controller and mechanical arm
Using the wireless connection based on ICP/IP protocol.
6. according to the mechanical arm motion control method described in any one of claim 1,4 or 5, it is characterised in that：The control
Carried out data transmission using socket modes between device and mechanical arm.
7. manipulator motion control system, it is characterised in that：Including controller and 3D mouses, the controller respectively with 3D mouse
It is marked with and mechanical arm carries out data transmission, the controller is used to acquire the control signal of 3D mouses and the position that mechanical arm is current
It sets and attitude data, and corresponding sports is made according to the control signal, position and attitude data control machinery arm.
8. manipulator motion control system according to claim 7, it is characterised in that：The movement of the mechanical arm includes closing
Section movement and end movement.
9. manipulator motion control system according to claim 8, it is characterised in that：Switched by the 3D mousebuttons
Joint motions pattern and end movement pattern.
10. manipulator motion control system according to claim 7, it is characterised in that：The controller and 3D mouses it
Between and/or the controller and mechanical arm between use wireless telecommunications.
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| CN201810238375.XA CN108466266A (en) | 2018-03-22 | 2018-03-22 | Mechanical arm motion control method and system |
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| CN201810238375.XA CN108466266A (en) | 2018-03-22 | 2018-03-22 | Mechanical arm motion control method and system |
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Application publication date: 20180831 |