CN111590563A - Arm system and control method thereof - Google Patents

Arm system and control method thereof Download PDF

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Publication number
CN111590563A
CN111590563A CN202010376131.5A CN202010376131A CN111590563A CN 111590563 A CN111590563 A CN 111590563A CN 202010376131 A CN202010376131 A CN 202010376131A CN 111590563 A CN111590563 A CN 111590563A
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China
Prior art keywords
arm
joint
arm section
communication module
inertial sensor
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CN202010376131.5A
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Inventor
黄昌正
陈曦
周言明
张瑞芳
刘润锋
梁旭晖
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Zhaoqing Anke Electronic Technology Co ltd
Guangzhou Huanjing Technology Co ltd
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Zhaoqing Anke Electronic Technology Co ltd
Guangzhou Huanjing Technology Co ltd
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Priority to CN202010376131.5A priority Critical patent/CN111590563A/en
Publication of CN111590563A publication Critical patent/CN111590563A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a mechanical arm system and a control method thereof, wherein the system comprises: the control device comprises a six-axis inertial sensor and a first communication module, wherein the six-axis inertial sensor is connected with the first communication module; the mechanical arm comprises a second communication module, a driver, a chassis, first to fourth joints, first to third arm sections and an execution tail end, wherein the driver controls the first to fourth joints to be matched to drive the first to third arm sections and the execution tail end to be switched in various preset states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction. The invention controls the mechanical arm to rotate around the shaft vertical to the chassis mounting plane or switch among a plurality of preset states based on the output quantity of two axial directions of the six-axis inertial sensor, has simple control, does not need to arrange sensors except joints on the mechanical arm, and has low cost. The invention can be widely applied to the field of mechanical arms.

Description

Arm system and control method thereof
Technical Field
The invention relates to the field of mechanical arms, in particular to a mechanical arm system and a control method thereof.
Background
At present, with the development of technology, mechanical arms are applied to precision fields such as industry and medicine. Complex sensor systems have been designed for them so that they achieve very high accuracy. The application to robotic arms is also found in some fields, but the precision requirements of the robotic arms used in these fields are relatively low, and the cost is too high by directly using the existing high precision robotic arms.
In addition, for a complex and delicate robot arm, the control thereof requires complex peripheral equipment. In fields such as game devices, accuracy requirements are not high, but a simpler control mode is often needed.
Disclosure of Invention
To solve at least one of the above-mentioned technical problems, the present invention is directed to: a low-cost and simple-to-control robot arm system and a control method thereof are provided.
In a first aspect, an embodiment of the present invention provides:
a robotic arm system, comprising:
the control device comprises a six-axis inertial sensor and a first communication module, wherein the six-axis inertial sensor is connected with the first communication module;
the mechanical arm comprises a second communication module, a driver, a chassis, first to fourth joints, first to third arm sections and an execution tail end, wherein the first joint is respectively connected with the chassis and the first arm section, the second joint is respectively connected with the first arm section and the second arm section, the third joint is respectively connected with the second arm section and the third arm section, and the fourth joint is respectively connected with the third arm section and the execution tail end; the first communication module is communicated with a second communication module, the second communication module is connected with the driver, and the driver is used for controlling the first joint to the fourth joint;
the driver controls the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis perpendicular to the installation plane of the chassis, and controls the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple preset states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction, wherein the first arm section, the third arm section and the execution tail end are in a plane perpendicular to the installation plane in each preset state.
Further, the first arm segment is the same in length as the third arm segment.
Further, the preset states of the first to third arm sections and the execution tail end include first to fourth preset states.
Further, when the system is started, the mechanical arm is initialized to a first preset state according to a default angle configured by the driver.
Further, when the mechanical arm is switched between the preset states, the first joint, the second joint, the third joint and the fourth joint control rotation amount according to a preset proportion formula.
Further, the control device is a ring.
Further, the first communication module and the second communication module are bluetooth modules.
In a second aspect, an embodiment of the present invention provides:
a method of controlling a robot arm system, comprising the steps of:
configuring first to fourth joints according to a default angle to initialize the robot arm to a first state;
controlling the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis vertical to the installation plane of the chassis;
and controlling the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction.
Further, when the mechanical arm is switched among the preset states, the first joint, the second joint, the third joint and the fourth joint are controlled to rotate according to a preset proportion formula.
Further, the preset states of the first to third arm sections and the execution tail end include first to fourth preset states.
The embodiment of the invention has the beneficial effects that: the mechanical arm is controlled to rotate around the shaft perpendicular to the chassis mounting plane or to be switched among a plurality of preset states based on the output quantity of two axial directions of the six-axis inertial sensor, the control is simple, a sensor except a joint does not need to be arranged on the mechanical arm, and the cost is low.
Drawings
FIG. 1 is a block diagram of a robotic arm system;
FIG. 2 is a schematic view of a first preset state of the robotic arm;
FIG. 3 is a schematic view of a second preset state of the robot arm;
FIG. 4 is a schematic view of a third preset state of the robotic arm;
FIG. 5 is a schematic view of a fourth preset state of the robotic arm;
fig. 6 is a flowchart of a control method of a robot system.
Detailed Description
The invention is further described with reference to the drawings and the specific examples.
Referring to fig. 1, a robot arm system includes:
the control device comprises a six-axis inertial sensor and a first communication module, wherein the six-axis inertial sensor is connected with the first communication module;
the mechanical arm comprises a second communication module, a driver, a chassis, first to fourth joints, first to third arm sections and an execution tail end, wherein the first joint is respectively connected with the chassis and the first arm section, the second joint is respectively connected with the first arm section and the second arm section, the third joint is respectively connected with the second arm section and the third arm section, and the fourth joint is respectively connected with the third arm section and the execution tail end; the first communication module is communicated with a second communication module, the second communication module is connected with the driver, and the driver is used for controlling the first joint to the fourth joint;
the driver controls the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis perpendicular to the installation plane of the chassis, and controls the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple preset states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction, wherein the first arm section, the third arm section and the execution tail end are in a plane perpendicular to the installation plane in each preset state.
It should be understood that only two axial rotations of the six-axis inertial sensor are utilized in the present embodiment. Referring to fig. 2, one axial rotation is used to control the rotation of the first arm segment about the Z axis perpendicular to the mounting plane of the chassis. Referring to fig. 2 to 5, another rotation amount is used to control the mechanical arm to switch between a first preset state, a second preset state, a third preset state and a fourth preset state.
In this embodiment, the control device is a device operated by a user, and the posture change of the control device can be acquired through the six-axis inertial sensor, so that the change amount is transmitted to the second communication module through the first communication module.
In the driver of the robot arm, each joint is controlled according to the output of the six-axis inertial sensor, and in this embodiment, the joints may be stepping motors.
Since the sensing output quantity of the six-axis inertial sensor in the second axial direction includes a positive direction and a negative direction, in this embodiment, the sequence of changing the preset state in the positive direction is: the first preset state- > the second preset state- > the third preset state- > the fourth preset state, and the change sequence of the preset states in the reverse direction is as follows: fourth preset state- > third preset state- > second preset state- > first preset state.
Of course, in some applications, the order of switching between states may be changed. The state of the mechanical arm can be described by setting the angle of each joint in each state, and the angle of each joint is only required to be adjusted in the control process.
In this embodiment, the actuating tip may be a structure such as a clip, fist, or other shape.
In some embodiments, the first to third arm segments are the same length. The mechanical arms with the same length can reduce the complexity of control.
In some embodiments, the predetermined states of the first through third arm segments and the actuating tip include first through fourth predetermined states. A small number of preset states are set, so that the complexity of user control can be reduced, and the user experience is increased.
In some embodiments, at system start-up, the robotic arm is initialized to a first preset state according to a default angle of the drive configuration.
In some embodiments, when the mechanical arm is switched between the preset states, the first joint, the second joint, the third joint and the fourth joint control the rotation amount according to a preset proportion formula.
The preset proportional formula for switching between partial states is explained below.
Referring to fig. 2, in this embodiment, including joints A, B, C and D, the length of the AB segment is equal to that of the BC segment and the CD segment, that is, AB ═ BC ═ CD, where the length is set as a, for convenience of description, the included angles at various positions on the mechanical arm are: α, β, θ, γ. The joints of the robotic arm are rotated through an angle of no more than 180 deg. per joint as shown in figure 2. Fig. 2 shows an initial state, which is a state of the robot arm when the robot arm is not used, and is generally arranged as shown in fig. 2 in order to take account of balance of equipment placement, and specific included angles may be set separately, which are defined as α, β, θ, and γ, which currently take values of α 1, β 1, θ 1, and γ 1, respectively. k is the height of the gripper mechanism (i.e., the end of the gripper) and is higher than the base by default, representing the approximate height of the item that can be gripped, and b is the distance from the base point of the arm to the edge of the base.
The state of fig. 2 is changed to the state of fig. 3, and the process is performed in the following scale.
△α：△β：△θ：△γ＝|α1-30°|：|150°-β1|：|150°-θ1|：|γ1-30°|。
Where α in figure 3 is preset to 30,
Figure BDA0002479975880000041
β＝θ＝150°，γ＝30°。
when the state of fig. 4 is set as AD ═ a; when α ═ β ═ θ ═ γ ═ 90 °, the angle ratio from fig. 3 to the state of fig. 4 is:
△α：△β：△θ：△γ＝1:1:1:1
when fig. 4 is changed to the state of fig. 5, the joint D connecting the executing end is in a powerless state so that the executing end is vertically downward. In the course of this control, the control unit,
Figure BDA0002479975880000042
Figure BDA0002479975880000043
the transformation ratio of the joint is controlled through a preset formula, so that the attitude imbalance of the mechanical arm in the control process can be prevented.
In some embodiments, the control device is a finger ring. The user can come to control the arm with wearing the ring, its easy operation, and user experience is good.
In some embodiments, the first communication module and the second communication module are bluetooth modules. The Bluetooth module is connected stably in a short-distance scene, the technology is mature, and the cost is low. Obviously, the communication module may also be a WIFI module or a 4G module, for example.
Referring to fig. 6, the present embodiment discloses a control method for a robot arm system, where the robot arm system in the present embodiment includes:
the control device comprises a six-axis inertial sensor and a first communication module, wherein the six-axis inertial sensor is connected with the first communication module;
the mechanical arm comprises a second communication module, a driver, a chassis, first to fourth joints, first to third arm sections and an execution tail end, wherein the first joint is respectively connected with the chassis and the first arm section, the second joint is respectively connected with the first arm section and the second arm section, the third joint is respectively connected with the second arm section and the third arm section, and the fourth joint is respectively connected with the third arm section and the execution tail end; the first communication module is communicated with a second communication module, the second communication module is connected with the driver, and the driver is used for controlling the first joint to the fourth joint;
the driver controls the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis perpendicular to the installation plane of the chassis, and controls the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple preset states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction, wherein the first arm section, the third arm section and the execution tail end are in a plane perpendicular to the installation plane in each preset state.
The method of the embodiment comprises the following steps:
s100, configuring first to fourth joints according to a default angle so as to initialize the mechanical arm to a first state;
s200, controlling the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction to drive the first arm section to rotate around an axis vertical to the installation plane of the chassis;
s300, controlling the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction.
In some embodiments, when the mechanical arm is switched between the preset states, the first joint, the second joint, the third joint and the fourth joint are controlled to rotate according to a preset proportion formula.
In some embodiments, the predetermined states of the first through third arm segments and the actuating tip include first through fourth predetermined states.
The step numbers in the above method embodiments are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A robotic arm system, comprising:
the control device comprises a six-axis inertial sensor and a first communication module, wherein the six-axis inertial sensor is connected with the first communication module;
the mechanical arm comprises a second communication module, a driver, a chassis, first to fourth joints, first to third arm sections and an execution tail end, wherein the first joint is respectively connected with the chassis and the first arm section, the second joint is respectively connected with the first arm section and the second arm section, the third joint is respectively connected with the second arm section and the third arm section, and the fourth joint is respectively connected with the third arm section and the execution tail end; the first communication module is communicated with a second communication module, the second communication module is connected with the driver, and the driver is used for controlling the first joint to the fourth joint;
the driver controls the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis perpendicular to the installation plane of the chassis, and controls the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple preset states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction, wherein the first arm section, the third arm section and the execution tail end are in a plane perpendicular to the installation plane in each preset state.
2. The robotic arm system of claim 1, wherein the first through third arm sections are the same length.
3. The robotic arm system of claim 2, wherein the predetermined states of the first through third arm segments and the actuating tip include first through fourth predetermined states.
4. The robotic arm system as claimed in claim 3, wherein the robotic arm is initialized to the first preset state at system start-up according to a default angle of the drive configuration.
5. The robot arm system of claim 4, wherein the first to fourth joints control the amount of rotation according to a predetermined ratio formula when the robot arm switches between the predetermined states.
6. The robotic arm system of claim 1, wherein the control device is a finger ring.
7. The robotic arm system of claim 1, wherein the first and second communication modules are bluetooth modules.
8. A control method of a robot arm system according to claim 1, comprising the steps of:
configuring first to fourth joints according to a default angle to initialize the robot arm to a first state;
controlling the first joint according to the sensing output quantity of the six-axis inertial sensor in the first axial direction so as to drive the first arm section to rotate around an axis vertical to the installation plane of the chassis;
and controlling the first joint to the fourth joint to be matched to drive the first arm section, the third arm section and the execution tail end to be converted in multiple states according to the sensing output quantity of the six-axis inertial sensor in the second axial direction.
9. The method of controlling a robot arm system according to claim 8, wherein the robot arm controls the first to fourth joints to control the amount of rotation according to a preset proportional formula when switching between the preset states.
10. The method of controlling a robot arm system according to claim 8, wherein the preset states of the first to third arm sections and the execution tip include first to fourth preset states.
CN202010376131.5A 2020-05-07 2020-05-07 Arm system and control method thereof Pending CN111590563A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2960467B1 (en) * 2010-06-01 2012-07-27 Robotiques 3 Dimensions COLLABORATIVE ROBOTICS EQUIPMENT
CN104238562A (en) * 2013-06-13 2014-12-24 通用汽车环球科技运作有限责任公司 Method and Apparatus for Controlling a Robotic Device via Wearable Sensors
CN106217374A (en) * 2016-08-11 2016-12-14 广州成潮智能科技有限公司 The control method of a kind of intelligent machine mechanical arm, Apparatus and system
CN107116541A (en) * 2016-11-10 2017-09-01 厦门创材健康科技有限公司 A kind of bionic arm structure of intelligent robot
CN206578829U (en) * 2017-03-14 2017-10-24 吉林大学 A kind of bionical body-sensing mechanical arm of seven freedom
CN107457762A (en) * 2016-06-02 2017-12-12 巨擘科技股份有限公司 Robot arm control device, robot arm system including the same, and robot arm control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2960467B1 (en) * 2010-06-01 2012-07-27 Robotiques 3 Dimensions COLLABORATIVE ROBOTICS EQUIPMENT
CN104238562A (en) * 2013-06-13 2014-12-24 通用汽车环球科技运作有限责任公司 Method and Apparatus for Controlling a Robotic Device via Wearable Sensors
CN107457762A (en) * 2016-06-02 2017-12-12 巨擘科技股份有限公司 Robot arm control device, robot arm system including the same, and robot arm control method
CN106217374A (en) * 2016-08-11 2016-12-14 广州成潮智能科技有限公司 The control method of a kind of intelligent machine mechanical arm, Apparatus and system
CN107116541A (en) * 2016-11-10 2017-09-01 厦门创材健康科技有限公司 A kind of bionic arm structure of intelligent robot
CN206578829U (en) * 2017-03-14 2017-10-24 吉林大学 A kind of bionical body-sensing mechanical arm of seven freedom

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