CN108481330A - A kind of system and method for control machinery arm - Google Patents
A kind of system and method for control machinery arm Download PDFInfo
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- CN108481330A CN108481330A CN201810594966.0A CN201810594966A CN108481330A CN 108481330 A CN108481330 A CN 108481330A CN 201810594966 A CN201810594966 A CN 201810594966A CN 108481330 A CN108481330 A CN 108481330A
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- height
- mechanical arm
- car body
- arm
- control
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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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application provides a kind of system and method for control machinery arm, including measuring device, the height parameter for measuring mechanical arm；Processor, for obtaining height parameter, and the actual height of mechanical arm is determined according to height parameter, closed-loop control is carried out according to actual height and preset object height, to control motor action until mechanical arm reaches object height, wherein, actual height and object height are height of the one end of the separate car body on the mechanical arm farthest apart from car body relative to benchmark.The height parameter of mechanical arm is measured in the application using measuring device, processor can further determine the actual height of mechanical arm according to height parameter, closed-loop control is carried out to control the movement of motor with object height by the actual height to mechanical arm, mechanical arm is accurately arrived at target, compared with prior art, without calibration can control machinery arm reach object height, time saving and energy saving, applicability is more preferable.
Description
Technical field
This application involves machine control techniques fields, more particularly to a kind of system and method for control machinery arm.
Background technology
Mechanical arm has many advantages, such as flexible operability, and in industry assembling, the fields such as safety anti-explosive are used widely.
A kind of mechanical arms rolled over mechanical arms and be common, the transmission principle of this multisection type folding mechanism arm is by motor pushing lead screw more
Movement, lead screw pulls chain on mechanical arm to be moved to realize, and lead screw moves length L and non-linear fortune after being stretched with mechanical arm
Dynamic, i.e., there are nonlinear dependences between length L after the characterising parameter motor counts values (revolution) of motor movement and mechanical arm stretching
System.
The movement of control machinery arm is often that control machinery arm top runs to certain height (i.e. L), then utilizes machinery
The equipment such as the holder of arm top installation carry out inspection to target.When control machinery arm moves to desired height, current way
It is：
(1) non-linear relation between motor counts values and mechanical arm tensile elongation, specific practice are determined by calibration
For：A benchmark (such as ground) is selected, monitoring motor counts values are with the one end of mechanical arm far from car body relative to selected base
Accurate real-time height, the functional relation between L and counts values is obtained using computer program operation.
(2) after the completion of demarcating, the function that is handed down to the height based on benchmark of controller according to host computer and calibrates
Relationship calculates motor and needs the counts values moved, is then handed down to driver execution.
As it can be seen that control machinery arm moves to specified altitude assignment and all has to pass through calibration at present, and it is big to demarcate difficulty, time-consuming to take
Power, and machine error due to every mechanical arm system and installation error are all different, every mechanical arm system is all when practical application
It demarcates, when the height of inspection target changes, the functional relation between L and counts values will change, before
Calibration cannot use, need to demarcate again could control machinery arm reach specified altitude assignment.As it can be seen that this control mode is taken
When it is laborious, and applicability is low.
Therefore, how a kind of scheme that can solve above-mentioned technical problem is provided, is that those skilled in the art needs at present
It solves the problems, such as.
Invention content
The purpose of the application is to provide a kind of system of control machinery arm, and compared with prior art, the application is without calibration
Can control machinery arm reach object height, time saving and energy saving, applicability is more preferable.The another object of the application is to provide a kind of control
The method of mechanical arm has above-mentioned advantageous effect.
In order to solve the above technical problems, this application provides a kind of systems of control machinery arm, including：
Measuring device, the height parameter for measuring mechanical arm；
Processor for obtaining the height parameter, and determines according to the height parameter the practical height of the mechanical arm
Degree carries out closed-loop control according to the actual height and preset object height, to control motor action until the machinery
Arm reaches the object height, wherein the actual height and the object height are on the mechanical arm farthest apart from car body
Height of the one end relative to benchmark far from the car body.
Preferably, the measuring device is rangefinder.
Preferably, the rangefinder is set to the separate car body on the mechanical arm farthest apart from the car body
One end, for directly measuring the actual height, then the height parameter is the actual height.
Preferably, the measuring device includes：
The rangefinder is set to one far from the car body removed on the mechanical arm farthest apart from the car body
On any one section mechanical arm outside end, for measuring present level, the present level is that the set-point of the rangefinder is opposite
In the height of benchmark；
Predetermined number dipmeter is respectively used to measure inclining for the mechanical arm and horizontal direction where the set-point
The inclination angle of other each section mechanical arms and horizontal direction far from the car body is lighted in angle and the setting, wherein described predetermined
Number is determined according to the set-point of the rangefinder；
Then the height parameter is the inclination angle that the present level and the predetermined number dipmeter measure；
It is then described to obtain the height parameter, and determine according to the height parameter mistake of the actual height of the mechanical arm
Journey is specially：
Inclination angle, the set-point measured according to the predetermined number dipmeter is arranged apart from the rangefinder
The brachium of mechanical arm where the length of one end of mechanical arm, the set-point, the setting light its far from the car body
He respectively save mechanical arm brachium and the present level actual height is calculated.
Preferably, the rangefinder is set on the mechanical arm farthest apart from the car body, but is removed apart from the car body
One end far from the car body on farthest mechanical arm, then the predetermined number is 1.
Preferably, the rangefinder is infrared range-measurement system or laser range finder.
Preferably, the closed-loop control is proportional-integral-differential PID closed-loop controls.
Preferably, the closed-loop control is velocity close-loop control.
Preferably, the mechanical arm is that suspension type rolls over mechanical arm or vertical jacking type mechanical arm more.
In order to solve the above technical problems, present invention also provides a kind of methods of control machinery arm, including：
Obtain the height parameter for the mechanical arm that measuring device measures；
The actual height of the mechanical arm is determined according to the height parameter；
Closed-loop control is carried out according to the actual height and preset object height, it is to control motor action until described
Mechanical arm reaches the object height, wherein the actual height and the object height are the machinery farthest apart from car body
Height of the one end far from the car body relative to benchmark on arm.
This application provides a kind of systems of control machinery arm, including measuring device, and the height for measuring mechanical arm is joined
Number；Processor for obtaining height parameter, and determines according to height parameter the actual height of mechanical arm, according to actual height with
And preset object height carries out closed-loop control, to control motor action until mechanical arm reaches object height, wherein practical high
Degree and object height are height of the one end of the separate car body on the mechanical arm farthest apart from car body relative to benchmark.
The height parameter of mechanical arm is measured in the application using measuring device, processor further can be with according to height parameter
The actual height for determining mechanical arm carries out closed-loop control to control motor by the actual height to mechanical arm with object height
Movement so that mechanical arm can accurately arrive at target, compared with prior art, without calibration can control machinery arm arrive
It is time saving and energy saving up to object height, and the application will not influence closing for mechanical arm when the height of inspection target changes
Ring controls process, and applicability is more preferable.
Present invention also provides a kind of method of control machinery arm, and the system of above-mentioned control machinery arm is having the same has
Beneficial effect.
Description of the drawings
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the system of control machinery arm provided herein；
Fig. 2 is a kind of structural schematic diagram of mechanical arm provided herein；
Fig. 3 is the structural schematic diagram of another mechanical arm provided herein；
Fig. 4 is the structural schematic diagram of the system of another control machinery arm provided herein；
Fig. 5 is the structural schematic diagram of the system of another control machinery arm provided herein；
Fig. 6 is a kind of flow diagram of the method for control machinery arm provided herein.
Specific implementation mode
The core of the application is to provide a kind of system of control machinery arm, and compared with prior art, the application is without calibration
Can control machinery arm reach object height, time saving and energy saving, applicability is more preferable.Another core of the application is to provide a kind of control
The method of mechanical arm has above-mentioned advantageous effect.
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Firstly the need of explanation, the encoder of a measurement motor rotating speed is included in the motor of mechanical arm, is used for real-time
Motor is monitored, encoder generally exports A phases, B phases, Z phases, U phases, W phases and their inversion signal, when motor shaft circles
When, Z phases export the origin that a pulse represents axis rotation；The umber of pulse (counts) that AB phases export indicates the revolution of motor；UVW
Mutually it is used for determining the position of motor pole.Counts represents the practical revolution of motor.Such as some motors circle, and are represented by
10000counts represents motor and turns half cycle if the revolution of the motor is 5000counts.
Referring to FIG. 1, Fig. 1 is a kind of structural schematic diagram of the system of control machinery arm provided herein, the system
Including：
Measuring device 1, the height parameter for measuring mechanical arm；
Processor 2 for obtaining height parameter, and determines according to height parameter the actual height of mechanical arm, according to reality
Height and preset object height carry out closed-loop control, to control motor action until mechanical arm reaches object height, wherein
Actual height and object height are height of the one end of the separate car body on the mechanical arm farthest apart from car body relative to benchmark.
Specifically, in order to solve the problems, such as that background technology proposes, machine can be monitored in real time using measuring device 1 in the application
The height parameter of tool arm, processor 2 determines the real-time height of mechanical arm, i.e. actual height in turn, according to actual height and mesh
The difference of absolute altitude degree carries out closed-loop control to mechanical arm, to make mechanical arm stop manipulator motion when reaching object height,
Goal height is equivalent to the given input in closed-loop control, and actual height is equivalent to the feedback signal in closed-loop control,
Closed-loop control is carried out using the difference of the two.
It should be noted that height parameter here is for determining actual height, it is high according to different actual conditions
Spending parameter can be different, and the application does not limit herein.Preset object height is determined by the height of inspection target, can
Change with the variation of inspection object height；Here on the robotic arm, measuring device 1 can use IIC for the installation of measuring device 1
(Inter-Integrated Circuit, twin wire universal serial bus), SPI (Serial Peripheral Interface, string
Row Peripheral Interface), the interfaces such as RS485 or RS232 be connected with processor 2, for measuring the height parameter of mechanical arm, measure dress
Set 1 varied with the connection type of processor 2, the application does not limit herein.
It should also be noted that, benchmark here can be ground or car body surface etc., the application does not limit herein
It is fixed.In addition, the mechanical arm farthest apart from car body is that section mechanical arm farthest apart from car body in more folding mechanical arms, such as Fig. 2 and Fig. 3
Shown, mechanical arm a is the mechanical arm farthest apart from car body in Fig. 2, and one end of the separate car body on the section mechanical arm is a1End, i.e.,
To roll over the vertex of mechanical arm, mechanical arm b is the mechanical arm farthest apart from car body, the separate car body on the section mechanical arm in Fig. 3 more
One end be b1It holds, the similar description occurred in subsequent content can refer to Fig. 2, Fig. 3 and the explanation at this, subsequently no longer one by one
It repeats.
This application provides a kind of systems of control machinery arm, including measuring device, and the height for measuring mechanical arm is joined
Number；Processor for obtaining height parameter, and determines according to height parameter the actual height of mechanical arm, according to actual height with
And preset object height carries out closed-loop control, to control motor action until mechanical arm reaches object height, wherein practical high
Degree and object height are height of the one end of the separate car body on the mechanical arm farthest apart from car body relative to benchmark.
The height parameter of mechanical arm is measured in the application using measuring device, processor further can be with according to height parameter
The actual height for determining mechanical arm carries out closed-loop control to control motor by the actual height to mechanical arm with object height
Movement so that mechanical arm can accurately arrive at target, compared with prior art, without calibration can control machinery arm arrive
It is time saving and energy saving up to object height, and the application will not influence closing for mechanical arm when the height of inspection target changes
Ring controls process, and applicability is more preferable.
On the basis of the above embodiments：
Embodiment as one preferred, measuring device 1 are rangefinder.
Specifically, measuring device 1 is according to actual conditions can there are many selections, in order to reduce control cost and improve control
The accuracy of system, measuring device 1 is rangefinder in the application, and rangefinder is used for measuring the height of mechanical arm, the measurement of rangefinder
Range is wide, high certainty of measurement, is conducive to accurately controlling for mechanical arm, and measuring device 1 can be but be not limited to above-mentioned rangefinder,
It specifically can be depending on actual conditions.
Embodiment as one preferred, rangefinder are set to one of the separate car body on the mechanical arm farthest apart from car body
End, for directly measuring actual height, then height parameter is actual height.
Specifically, in practical application, it is contemplated that rangefinder is set to the machinery farthest apart from car body by the convenience of measurement
One end of separate car body on arm, such as a in Fig. 21It holds, the b in Fig. 31End, it is exactly machine that measuring device 1 is measured directly at this time
The actual height of tool arm, improves measurement efficiency, without additional auxiliary tool, reduces measurement cost.Certainly, ranging
The set-up mode of instrument can also be other, can specifically be determined according to actual conditions, the application does not limit herein.
Embodiment as one preferred, measuring device 1 include：
Rangefinder is set to any one section machine outside the one end for removing the separate car body on the mechanical arm farthest apart from car body
On tool arm, for measuring present level, present level is height of the set-point of rangefinder relative to benchmark；
Predetermined number dipmeter, the inclination angle of the mechanical arm and horizontal direction that are respectively used to where measure setup point with
And the inclination angle of other each section mechanical arms and horizontal direction far from car body is lighted in setting, wherein predetermined number is according to rangefinder
Set-point determines；
Then height parameter is the inclination angle that present level and predetermined number dipmeter measure；
Height parameter is then obtained, and determines that the process of the actual height of mechanical arm is specially according to height parameter：
One end of the mechanical arm at the inclination angle, the setting of set-point distance ranging instrument that are measured according to predetermined number dipmeter
Length, the brachium of mechanical arm where set-point, setting light brachiums of other each section mechanical arms far from car body and work as
Actual height is calculated in preceding height.
Specifically, when rangefinder is set to its outside the one end for removing the separate car body on the mechanical arm farthest apart from car body
When his position, in order to determine the actual height of mechanical arm, dipmeter, i.e. angle measurement unit is also needed to carry out conjunction measuring.Such as
Shown in Fig. 4, when rangefinder is set in figure a bit on mechanical arm shown in AB, to determine mechanical arm C points and benchmark
Actual height H also needs the brachium L2 for brachium L3, AC mechanical arm for knowing AB mechanical arms, surveys in addition to the H1 height of stadia surveying
The set-point ends distance A of the distance meter or length at the ends B, the angle of inclination beta of mechanical arm AB and horizontal direction and mechanical arm AC and level
According to L2 and inclination alpha height H2, H2=L2*sin α can be calculated, according to L3, rangefinder is set in the inclination alpha in direction
The length and angle of inclination beta at some ends distance A or the ends B are set, height H3 can be calculated, it is assumed that the length at the set-point ends distance B
For L, then H3=(L3-L) * sin β, similarly, if the length at the set-point ends distance A is L, H3=L*sin β, thus, it is possible to really
Actual height H=H1+H2+H3 is made, at this point, determining that actual height also needs to two dipmeters other than rangefinder.
As shown in figure 5, mechanical arm is suspension type rolls over mechanical arm more, when rangefinder is set on mechanical arm AC, in order to true
Determine the actual height H of mechanical arm, it is also necessary to 1 dipmeter, for measuring the inclination alpha of mechanical arm AC and horizontal direction, this
When, the present level that rangefinder measures is h1, it is assumed that length of the set-point of rangefinder apart from C-terminal is L, then actual height H=
H1-h=h1-L*sin α can be obtained if the length at the set-point ends distance A of rangefinder is L according to the brachium of mechanical arm AC
Actual height H can be equally calculated using above-mentioned formula in length of the set-point apart from C-terminal.
Correspondingly, the number of dipmeter can be determined according to the set-point of rangefinder, such as two kinds of feelings of Fig. 4 and Fig. 5
Condition, usually, the number of dipmeter are that mechanical arm where the set-point of rangefinder and setting are lighted far from car body
The sum of mechanical arm joint number of other mechanical arms.
Certainly, in addition to dipmeter, corresponding device can also be coordinated to determine actual height by other means, this
Application is not particularly limited herein.
Embodiment as one preferred, rangefinder are set on the mechanical arm farthest apart from car body, but are removed apart from vehicle
One end of separate car body on the farthest mechanical arm of body, then predetermined number is 1.
Specifically, it is contemplated that control cost, rangefinder are set on the mechanical arm farthest apart from car body, but are removed apart from vehicle
One end of separate car body on the farthest mechanical arm of body only needs 1 dipmeter, as shown in Figure 5 at this time.Certainly, rangefinder
Set-point can be but be not limited to the above situation, the application does not limit herein.
Embodiment as one preferred, rangefinder are infrared range-measurement system or laser range finder.
Specifically, it is contemplated that infrared range-measurement system or laser ranging may be used in control accuracy, the rangefinder in the application
The range accuracy of instrument, the two is relatively high, can improve control accuracy, mechanical arm is made accurately to reach object height.Rangefinder can
Think infrared range-measurement system or laser range finder, can also be other, the application does not limit herein.
Embodiment as one preferred, closed-loop control are proportional-integral-differential PID closed-loop controls.
Specifically, object height is reached in order to accurately control mechanical arm, closed-loop control can be PID in the application
(Proportion-Integral-Derivative, proportional-integral-differential) closed-loop control, PID control have reaction speed
Soon, accurate advantage is controlled, it is of course also possible to use fuzzy control etc., the application does not limit herein.
Embodiment as one preferred, closed-loop control are velocity close-loop control.
Specifically, mostly in folding mechanical arm traveling process, processor 2 obtains the object height of mechanical arm from host computer, processing
Device 2 makes motor generation act by velocity close-loop control motor, and measuring device 1 monitors the actual height of mechanical arm, according to reality
The degree of closeness of height and object height, processor 2, which changes, is handed down to the speed of service of mechanical arm, such as when close to object height
When, reduce motor speed, when reaching object height, motor speed is kept to 0.With the real-time height of this real-time tracking mechanical arm,
The control purpose for reaching more folding mechanical arms, passes through velocity close-loop control so that mechanical arm being capable of exactly arrival object height.
Certainly, other than speed closed loop, other control modes, the application can also be used not to limit herein.
Embodiment as one preferred, mechanical arm are that suspension type rolls over mechanical arm or vertical jacking type mechanical arm more.
Specifically, the type of mechanical arm is varied, the mechanical arm that the application is suitable for stretching to each one direction, such as
The vertical jacking type mechanical arm of Fig. 4 and the suspension type of Fig. 5 roll over mechanical arm more, and other than both, mechanical arm can also be it
His type, the application do not limit herein.
Referring to FIG. 6, Fig. 6 is a kind of flow diagram of the method for control machinery arm provided herein, this method
Including：
Step S11：Obtain the height parameter for the mechanical arm that measuring device measures.
Step S12：The actual height of mechanical arm is determined according to height parameter.
Step S13：Carry out closed-loop control according to actual height and preset object height, to control motor action until
Mechanical arm reaches object height, wherein actual height and object height are the separate vehicle on the mechanical arm farthest apart from car body
Height of the one end of body relative to benchmark.
Present invention also provides a kind of method of control machinery arm, and the system of above-mentioned control machinery arm is having the same has
Beneficial effect.
Above system embodiment, the application are please referred to for a kind of introduction of the method for control machinery arm provided by the present application
Details are not described herein.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For method disclosed in embodiment
For, since it is corresponding with system disclosed in embodiment, so description is fairly simple, related place is defended oneself referring to Account Dept
It is bright.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only that
A little elements, but also include other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the application.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can in other embodiments be realized in the case where not departing from spirit herein or range.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of system of control machinery arm, which is characterized in that including：
Measuring device, the height parameter for measuring mechanical arm；
Processor for obtaining the height parameter, and determines according to the height parameter actual height of the mechanical arm, root
Closed-loop control is carried out according to the actual height and preset object height, to control motor action until the mechanical arm reaches
The object height, wherein the actual height and the object height are separate on the mechanical arm farthest apart from car body
Height of the one end of the car body relative to benchmark.
2. the system of control machinery arm according to claim 1, which is characterized in that the measuring device is rangefinder.
3. the system of control machinery arm according to claim 2, which is characterized in that the rangefinder is set to described in distance
One end far from the car body on the farthest mechanical arm of car body, for directly measuring the actual height, then the height
Degree parameter is the actual height.
4. the system of control machinery arm according to claim 2, which is characterized in that the measuring device includes：
The rangefinder is set to outside the one end far from the car body removed on the mechanical arm farthest apart from the car body
Any one section mechanical arm on, for measuring present level, the present level is the set-point of the rangefinder relative to base
Accurate height；
Predetermined number dipmeter, the inclination angle of the mechanical arm and horizontal direction that are respectively used to measure where the set-point with
And the inclination angle of other each section mechanical arms and horizontal direction far from the car body is lighted in the setting, wherein the predetermined number
It is determined according to the set-point of the rangefinder；
Then the height parameter is the inclination angle that the present level and the predetermined number dipmeter measure；
It is then described to obtain the height parameter, and determine that the process of the actual height of the mechanical arm has according to the height parameter
Body is：
The machinery that inclination angle, the set-point measured according to the predetermined number dipmeter is arranged apart from the rangefinder
The brachium of mechanical arm where the length of one end of arm, the set-point, the setting light far from the car body other are each
The actual height is calculated in the brachium and the present level for saving mechanical arm.
5. the system of control machinery arm according to claim 4, which is characterized in that the rangefinder is set to described in distance
On the farthest mechanical arm of car body, but one end far from the car body on the mechanical arm farthest apart from the car body is removed, then institute
It is 1 to state predetermined number.
6. according to the system of claim 2-5 any one of them control machinery arms, which is characterized in that the rangefinder is infrared
Rangefinder or laser range finder.
7. the system of control machinery arm according to claim 1, which is characterized in that the closed-loop control is proportional, integral-
Differential PID closed-loop controls.
8. the system of control machinery arm according to claim 1, which is characterized in that the closed-loop control is speed closed loop control
System.
9. the system of control machinery arm according to claim 1, which is characterized in that the mechanical arm is that suspension type rolls over machine more
Tool arm or vertical jacking type mechanical arm.
10. a kind of method of control machinery arm, which is characterized in that including：
Obtain the height parameter for the mechanical arm that measuring device measures；
The actual height of the mechanical arm is determined according to the height parameter；
Closed-loop control is carried out according to the actual height and preset object height, to control motor action until the machinery
Arm reaches the object height, wherein the actual height and the object height are on the mechanical arm farthest apart from car body
Height of the one end relative to benchmark far from the car body.
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| CN201810594966.0A CN108481330A (en) | 2018-06-11 | 2018-06-11 | A kind of system and method for control machinery arm |
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| CN201810594966.0A CN108481330A (en) | 2018-06-11 | 2018-06-11 | A kind of system and method for control machinery arm |
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