CN111152242A - Mechanical arm control method - Google Patents
Mechanical arm control method Download PDFInfo
- Publication number
- CN111152242A CN111152242A CN202010129220.XA CN202010129220A CN111152242A CN 111152242 A CN111152242 A CN 111152242A CN 202010129220 A CN202010129220 A CN 202010129220A CN 111152242 A CN111152242 A CN 111152242A
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- China
- Prior art keywords
- arm
- sensor
- signal
- motion
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims abstract 4
- 238000009434 installation Methods 0.000 claims abstract 2
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 description 4
- 230000001012 protector Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm control method, which directly converts a sensor output signal into a driving signal to control the motion of a mechanical arm. The protective equipment that the installation was made the motion of stretching out along with the arm on the forearm and the postbrachium of the flexion both sides of arm, the both ends of sensor are installed respectively on forearm and postbrachium place protective equipment, and the arm includes last arm and lower arm that one end is articulated to be connected, and arm and lower arm are connected respectively to servo electric jar both ends. The linear displacement sensor is arranged on the protective tool, the linear displacement sensor is driven by the stretching motion of the arm to issue growth degree change, a displacement signal is output, the displacement signal is directly converted into a pulse signal in proportion by the motion control module to drive the servo electric cylinder to move by a corresponding length, and the response time of the displacement sensor and the response time of the servo electric cylinder are both very short, so that the mechanical arm can quickly follow the arm of a person to do accurate motion.
Description
Technical Field
The invention relates to a mechanical arm control method, and belongs to the technical field of mechanical arm control.
Background
The action of arm needs control signal to realize, and the control signal of current arm either comes from the host computer, or comes from attitude sensor, and these two kinds of modes all hardly make the arm accomplish real-time sensitive accurate follow-up.
Disclosure of Invention
The invention provides a mechanical arm control method capable of realizing real-time, sensitive and accurate follow-up, aiming at solving the problems in the prior art.
In order to achieve the purpose, the technical means adopted by the invention is as follows: a mechanical arm control method is characterized in that a sensor output signal is directly converted into a driving signal to control the movement of a mechanical arm.
Further, the sensor is a displacement sensor.
Further, the sensor is a linear displacement sensor.
Further, the direct conversion of the sensor output signal into the driving signal means: the sensor changes the length along with the stretching movement of the arm to output a displacement signal, and a motion control module of the mechanical arm directly converts the displacement signal into a pulse signal in proportion to drive the servo electric cylinder to move by the corresponding length.
Furthermore, protective equipment which does stretching movement along with the arm is arranged on the front arm and the rear arm on two sides of the bending part of the arm, two ends of the sensor are respectively arranged on the protective equipment where the front arm and the rear arm are arranged, the mechanical arm comprises an upper mechanical arm and a lower mechanical arm, one end of the upper mechanical arm is hinged to the upper mechanical arm, one end of the lower mechanical arm is hinged to the lower mechanical arm, and two ends of the servo electric cylinder are respectively connected with the upper.
The beneficial technical effects of the invention are as follows: install linear displacement sensor on the protective equipment, send the growth degree change at the motion drive of stretching out and buckling of arm, output displacement signal, motion control module directly converts this displacement signal to the servo electric jar of pulse signal drive according to a proportion and removes corresponding length, because displacement sensor and servo electric jar response time are all very short, can realize that the arm is quick to be accurate motion with people's arm.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic illustration of a hand arm portion according to the present invention;
FIG. 2 is a schematic view of the structure of a robot arm section of the present invention.
In the figure: 1. arm, 2, sensor, 3, protective equipment, 4, upper mechanical arm, 5, servo electric cylinder, 6, lower mechanical arm.
Detailed Description
A mechanical arm control method is characterized in that a signal output by a sensor 2 is directly converted into a driving signal to control the movement of a mechanical arm.
As an example of the specific implementation component, the sensor is a displacement sensor.
As one of the structures, the sensor is a linear displacement sensor.
The direct conversion of the sensor output signal into the drive signal means: the sensor 2 changes the length along with the extending movement of the arm 1, and outputs a displacement signal, and a movement control module of the mechanical arm directly converts the displacement signal into a pulse signal in proportion to drive the servo electric cylinder 5 to move by a corresponding length.
As shown in fig. 1 and 2, the arm 1 has a front arm and a rear arm on both sides of the bending portion, and a protector 3 for stretching movement with the arm is mounted on the front arm and the rear arm, the sensor 2 has two ends mounted on the protector 3 on which the front arm and the rear arm are respectively located, the robot arm includes an upper robot arm 4 and a lower robot arm 6 with one ends hinged, and the servo cylinder 5 has two ends connected to the upper robot arm 4 and the lower robot arm 6 respectively. When the arm 1 of a person does stretching or bending motion, the sensor 2 changes in length along with the stretching motion of the arm 1 of the person and outputs a displacement signal, the displacement signal is transmitted to a motion control module of the mechanical arm, the displacement signal is directly converted into a pulse signal in proportion to drive the servo electric cylinder 5 to move by a corresponding length, and the motion of the servo electric cylinder 5 enables the upper mechanical arm 4 and the lower mechanical arm 6 to achieve stretching or bending motion in the structure in fig. 2.
The linear displacement sensor is arranged on the protective tool, the linear displacement sensor is driven by the stretching motion of the arm to issue growth degree change, a displacement signal is output, the displacement signal is directly converted into a pulse signal in proportion by the motion control module to drive the servo electric cylinder to move by a corresponding length, and the response time of the displacement sensor and the response time of the servo electric cylinder are both very short, so that the mechanical arm can quickly follow the arm of a person to do accurate motion.
The above description is only for the specific embodiments of the present invention, and not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the protection scope of the present invention.
Claims (5)
1. A method for controlling a robot arm, comprising: the output signal of the sensor is directly converted into a driving signal to control the movement of the mechanical arm.
2. The robot arm control method according to claim 1, characterized in that: the sensor is a displacement sensor.
3. The robot arm control method according to claim 2, characterized in that: the sensor is a linear displacement sensor.
4. The robot arm control method according to claim 1, characterized in that: the direct conversion of the sensor output signal into the drive signal means: the sensor changes the length along with the stretching movement of the arm to output a displacement signal, and a motion control module of the mechanical arm directly converts the displacement signal into a pulse signal in proportion to drive the servo electric cylinder to move by the corresponding length.
5. The robot arm control method according to claim 4, characterized in that: the protective equipment that the installation was made the motion of stretching out along with the arm on the forearm and the postbrachium of the flexion both sides of arm, the both ends of sensor are installed respectively on forearm and postbrachium place protective equipment, and the arm includes last arm and lower arm that one end is articulated to be connected, and arm and lower arm are connected respectively to servo electric jar both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010129220.XA CN111152242A (en) | 2020-02-28 | 2020-02-28 | Mechanical arm control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010129220.XA CN111152242A (en) | 2020-02-28 | 2020-02-28 | Mechanical arm control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111152242A true CN111152242A (en) | 2020-05-15 |
Family
ID=70566656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010129220.XA Pending CN111152242A (en) | 2020-02-28 | 2020-02-28 | Mechanical arm control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111152242A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3247979A (en) * | 1962-12-14 | 1966-04-26 | Programmed & Remote System Cor | Manipulator control system |
| CN104622585A (en) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | Master-slave isomorphic teleoperation main hand of laparoscope minimally-invasive surgery robot |
| CN105686834A (en) * | 2016-01-17 | 2016-06-22 | 北京工业大学 | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN110142736A (en) * | 2019-06-25 | 2019-08-20 | 山东大学 | A kind of principal and subordinate's isomorphism mechanical arm system |
| CN110561396A (en) * | 2019-11-07 | 2019-12-13 | 湖南生物机电职业技术学院 | High-precision quick-reaction manipulator |
-
2020
- 2020-02-28 CN CN202010129220.XA patent/CN111152242A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3247979A (en) * | 1962-12-14 | 1966-04-26 | Programmed & Remote System Cor | Manipulator control system |
| CN104622585A (en) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | Master-slave isomorphic teleoperation main hand of laparoscope minimally-invasive surgery robot |
| CN105686834A (en) * | 2016-01-17 | 2016-06-22 | 北京工业大学 | Wearable exoskeleton mechanism used for detecting human body upper limb shoulder glenohumeral joint motion information |
| CN106426270A (en) * | 2016-12-15 | 2017-02-22 | 徐航 | Mechanical arm joint structure |
| CN110142736A (en) * | 2019-06-25 | 2019-08-20 | 山东大学 | A kind of principal and subordinate's isomorphism mechanical arm system |
| CN110561396A (en) * | 2019-11-07 | 2019-12-13 | 湖南生物机电职业技术学院 | High-precision quick-reaction manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201010 Address after: 234000 1211 science and technology building, No.8, Zhuyi Road, high tech Zone, Suzhou City, Anhui Province Applicant after: Suzhou selward Internet of things Technology Co.,Ltd. Address before: 234000 Anhui city of Suzhou Province, the Milky Way Yongqiao district two road Conrad Jinxiu Jiangnan District 57 building 108 Applicant before: Xu Hang |
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| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200515 |
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| RJ01 | Rejection of invention patent application after publication |