CN115328216A - Method, processor, device and engineering equipment for controlling straight arm type arm support - Google Patents
Method, processor, device and engineering equipment for controlling straight arm type arm support Download PDFInfo
- Publication number
- CN115328216A CN115328216A CN202210983567.XA CN202210983567A CN115328216A CN 115328216 A CN115328216 A CN 115328216A CN 202210983567 A CN202210983567 A CN 202210983567A CN 115328216 A CN115328216 A CN 115328216A
- Authority
- CN
- China
- Prior art keywords
- arm
- straight
- pose information
- current
- information corresponding
- 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
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
- B66F11/046—Working platforms suspended from booms of the telescoping type
Abstract
The invention relates to the technical field of engineering equipment, and discloses a method, a processor, a device and engineering equipment for controlling a straight arm type arm support. The method comprises the following steps: acquiring current pose information of the straight arm type arm support to determine the current position of the tail end of the straight arm type arm support; determining a desired position of the terminal according to the current position and the input motion command; the method comprises the steps of determining a platform leveling rotating motion pair used for adjusting a tail end to enable the tail end to keep a horizontal state in motion pairs of the straight-arm type arm support, determining expected pose information corresponding to other motion pairs of the straight-arm type arm support except the platform leveling rotating motion pair according to an expected position and current pose information corresponding to the platform leveling rotating motion pair, and generating a control instruction used for adjusting the pose of the straight-arm type arm support according to the current pose information corresponding to the platform leveling rotating motion pair and the expected pose information corresponding to the other motion pairs. The method simplifies the kinematics solving step, and effectively reduces the calculation difficulty when the boom pose control instruction is determined.
Description
Technical Field
The invention relates to the technical field of engineering equipment, in particular to a method, a processor, a device and engineering equipment for controlling a straight arm type arm support.
Background
The straight arm type arm support of the engineering equipment is usually a series structure, and comprises a plurality of joint arms, and the joint arms are connected through joints capable of controlling the joint arms to move. With the increasingly wide application of straight arm type engineering equipment, the problems of complex operation environment, high operation difficulty and the like are faced.
At present, the straight arm type arm support engineering equipment is mainly controlled manually, an operator needs to know the structural form of a straight arm type arm vehicle in advance, then the position of the tail end of the engineering equipment is observed through the naked eye of an operator, the position and the angle are estimated according to experience, and then the hydraulic driving oil cylinders of all arm sections are independently moved through a control handle, so that a platform reaches a preset target position. The method not only provides requirements for the familiarity of operators with engineering equipment, but also increases the labor intensity of operators, brings hidden dangers to the operation safety, and has important significance for improving the operation efficiency of the engineering equipment and controlling the platform position to perform linear motion.
Disclosure of Invention
In view of the foregoing defects in the prior art, an object of the embodiments of the present invention is to provide a method, a processor, a device, and an engineering apparatus for controlling a straight-arm boom.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling a straight-arm boom including a plurality of joint arms and joints connecting the plurality of joint arms, comprising:
acquiring current pose information of the straight arm type arm support, wherein the current pose information comprises a current rotation angle of a knuckle arm and a current telescopic amount of the knuckle arm;
determining the current position of the tail end of the straight arm type arm support according to the current pose information;
determining the expected position of the tail end of the straight arm type arm support according to the current position and the input motion instruction;
determining a platform leveling rotation kinematic pair which is used for adjusting the tail end of the straight-arm type arm support so as to keep the tail end in a horizontal state in a kinematic pair of the straight-arm type arm support, wherein the kinematic pair of the straight-arm type arm support comprises knuckle arm rotation and knuckle arm extension;
determining expected pose information corresponding to other kinematic pairs of the straight-arm type arm support except the platform leveling rotary kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotary kinematic pair; and
and generating a control instruction for adjusting the pose of the straight arm type arm support according to the current pose information corresponding to the platform leveling rotary motion pair and the expected pose information corresponding to other motion pairs.
In the embodiment of the present invention, determining the expected pose information corresponding to other kinematic pairs of the straight-arm boom except for the platform leveling rotational kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotational kinematic pair includes:
and inputting the expected position and the current pose information corresponding to the platform leveling rotation pair into the reverse kinematics model to determine the expected pose information corresponding to other kinematic pairs.
In the embodiment of the present invention, inputting the current pose information corresponding to the desired position and the platform leveling rotation kinematic pair to the inverse kinematics model to determine the desired pose information corresponding to other kinematic pairs includes:
determining whether a real solution exists in a reverse kinematics model based on the expected position and current pose information corresponding to the platform leveling rotation kinematic pair;
if the reverse kinematics model is determined to have a real number solution, judging whether the real number solution exceeds a first preset motion range corresponding to other kinematic pairs;
and if the real number solution does not exceed the first preset motion range, determining expected pose information corresponding to other kinematic pairs based on the real number solution.
In the embodiment of the present invention, inputting the current pose information corresponding to the desired position and the platform leveling rotation kinematic pair to the inverse kinematics model to determine the desired pose information corresponding to other kinematic pairs includes:
and if the real number solution does not exist in the reverse kinematics model or the real number solution exceeding the first preset motion range exists, waiting for a preset interval duration to obtain the current pose information corresponding to the platform leveling rotating kinematic pair again after the waiting is finished until the real number solution not exceeding the first preset motion range is obtained.
In the embodiment of the invention, the inverse kinematics model is established by the following steps:
acquiring initial pose information of the straight-arm type arm support, wherein the initial pose information comprises an initial position of a joint and an initial position of the tail end of the straight-arm type arm support;
and establishing an inverse kinematics model based on the space geometric relationship among the multiple joint arms and the initial pose information.
In the embodiment of the present invention, obtaining the current pose information of the straight arm type boom includes:
and responding to the monitored control signal for controlling the tail end of the straight-arm type arm support to move, and acquiring the current pose information of the straight-arm type arm support at the current moment.
In the embodiment of the present invention, determining the current position of the tail end of the straight-arm boom according to the current pose information includes:
inputting the current pose information into a forward kinematics model to determine the current position of the tail end of the straight arm type arm support;
wherein, the forward kinematics model is established based on a rotation method.
In the embodiment of the invention, the plurality of section arms comprise a tower arm, a fly arm and a working platform, the joints comprise a rotary table rotary joint, a tower arm telescopic joint, a fly arm rotary joint and a platform leveling rotary joint,
the rotary joint of the rotary table is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint;
the current pose information comprises a first current rotation angle of rotation of the rotary table, a second current rotation angle of rotation of the tower arm, a third current rotation angle of rotation of the fly arm, a fourth current rotation angle of leveling rotation of the platform and a first telescopic amount of telescopic of the tower arm;
the kinematic pair of the straight arm support comprises: the method comprises the steps of rotating a rotary table, rotating a tower arm, rotating a fly arm, leveling and rotating a platform and stretching the tower arm.
A second aspect of the invention provides a processor configured so as when executed to implement the steps of the method for controlling a boom of a straight arm as above.
A third aspect of the present invention provides a device for controlling a straight-arm boom, including:
the hydraulic driving system is used for driving the straight arm type arm support to move;
the sensor is used for detecting the pose of the straight arm type arm support;
a processor as described in the above embodiments; and
a hydraulic servo controller configured to:
generating pose information according to the pose detected by the sensor in response to the received control signal, and transmitting the generated pose information to the processor;
and controlling a hydraulic driving system to drive the straight arm type arm frame to move according to a control instruction which is received from a processor and used for adjusting the pose of the straight arm type arm frame.
In the embodiment of the present invention, the method further includes:
and the remote controller is used for responding to the user operation and sending the control signal.
A fourth aspect of the present invention provides an engineering apparatus, comprising:
the straight arm type arm support comprises a plurality of section arms and joints for connecting the section arms;
the device for controlling the straight arm type arm support in the above embodiment.
In the embodiment of the invention, the plurality of sections of arms comprise a tower arm, a fly arm and a working platform, the joints comprise a rotary table rotary joint, a tower arm telescopic joint, a fly arm rotary joint and a platform leveling rotary joint, the rotary table rotary joint is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint.
A fifth aspect of the present invention provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to execute the method for controlling a boom of a straight arm as in the above embodiment.
According to the technical scheme, the current pose information of the straight-arm type arm support is obtained, the current position of the tail end of the straight-arm type arm support is determined according to the current position and the input motion instruction, the expected position of the tail end of the straight-arm type arm support is determined according to the current position and the input motion instruction, the platform leveling rotating pair used for adjusting the tail end of the straight-arm type arm support to enable the tail end to keep a horizontal state is determined in the motion pair of the straight-arm type arm support, the expected pose information corresponding to other motion pairs of the straight-arm type arm support except the platform leveling rotating pair is determined according to the expected position and the current pose information corresponding to the platform leveling rotating pair, and the control instruction used for adjusting the pose of the straight-arm type arm support is generated according to the current pose information corresponding to the platform leveling rotating pair and the expected pose information corresponding to the other motion pairs. When the degree of freedom of the straight-arm type arm support is redundant, the calculation difficulty in determining a control instruction for adjusting the pose of the straight-arm type arm support is effectively reduced by dividing the platform leveling rotating pair, the calculation speed is greatly accelerated, the adaptability and the flexibility in a complex high-altitude operation scene are effectively improved, in addition, the automatic control of the tail end position of the arm type high-altitude operation platform can be realized through the control instruction for adjusting the pose of the straight-arm type arm support, an operator does not need to be familiar with the structural form of an engineering equipment arm support in advance, the use threshold of the high-altitude operation platform is reduced, the operation of the arm type high-altitude operation platform is simpler and more visual, the controllability is better, and the labor intensity is reduced.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flowchart of a method for controlling a straight-arm boom according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an apparatus for controlling a straight-arm boom according to an embodiment of the present invention;
FIG. 3 is a flow diagram illustrating inverse kinematics model solution according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an engineering device according to an embodiment of the present invention.
Description of the reference numerals
100. The device is used for controlling the engineering equipment arm support; 101. a processor; 102. a hydraulic drive system; 103. a hydraulic servo controller; 104. a sensor; 105. a remote controller; 111. a turntable revolute joint; 112. a tower arm revolute joint; 113. a tower arm; 114. a tower arm telescopic joint; 115. a fly arm revolute joint; 116. a fly arm; 117. the platform leveling rotating joint; 118. a working platform; theta 1, rotating the rotary table; theta 2, rotating the tower arm; theta 3, stretching the tower arm; theta 4, rotating the fly arm; and theta 5, leveling and rotating the platform.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart illustrating a method for controlling a straight-arm boom according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, a method for controlling a straight-arm boom, where the straight-arm boom includes a plurality of joints and a joint connecting the plurality of joints, is described as being applied to a processor, and the method may include the following steps:
step S100, obtaining current pose information of the straight arm type arm support, wherein the current pose information comprises a current rotation angle of a knuckle arm and a current telescopic amount of the knuckle arm;
in this embodiment, it should be noted that the straight arm type arm support of the engineering equipment may be a series structure, and may include a plurality of joint arms, and the joint arms are connected through a joint capable of controlling the joint arms to rotate. The current pose information comprises a current rotation angle of the knuckle arm and a current telescopic quantity of the knuckle arm, wherein the current rotation angle and the current telescopic quantity represent the rotation angle of the knuckle arm and the telescopic quantity of the knuckle arm corresponding to the current moment. The current pose information of the straight-arm type arm support can be obtained through a sensor arranged at a position corresponding to a joint arm or a joint of the straight-arm type arm support.
Specifically, obtaining the current pose information of the straight arm type arm support includes:
step a, responding to a control signal for controlling the tail end of the straight-arm type arm support to move, and acquiring current pose information of the straight-arm type arm support at the current moment.
In this embodiment, it should be noted that the control signal for controlling the movement of the tail end of the straight-arm type arm support may trigger the tail end of the straight-arm type arm support to move, and at this time, it needs to determine how to control the joint arm or the joint of the straight-arm type arm support to move, so as to implement the position movement of the tail end of the straight-arm type arm support. Specifically, when the processor monitors a control signal for controlling the movement of the tail end of the straight-arm boom, the current pose information of the straight-arm boom at the current moment can be acquired from the sensor. In one example, the control signal may be generated by a user (operator) by operating a remote controller.
Step S200, determining the current position of the tail end of the straight arm type arm support according to the current pose information;
in this embodiment, it should be noted that, when the engineering equipment controls the straight-arm boom to move, the main purpose is to control the tail end of the straight-arm boom to reach a designated position, for example, a working platform at the control tail end of the aerial platform truck moves to reach the designated position. Before adjusting the pose of the straight-arm type arm support, the position of the tail end of the straight-arm type arm support at the current moment before adjustment, namely the current position of the tail end, needs to be determined.
Specifically, determining the current position of the tail end of the straight-arm type arm support according to the current pose information comprises the following steps:
b, inputting the current pose information into the forward kinematics model to determine the current position of the tail end of the straight arm type arm support; wherein, the forward kinematics model is established based on a rotation method.
In this embodiment, it should be noted that when the end of the straight-arm boom is controlled to move from the current position to the expected position, the current position of the end of the straight-arm boom needs to be determined at the current moment, so that the expected position of the end is determined according to the motion instruction after the current position of the end is determined, and then expected pose information for controlling a motion pair of the straight-arm boom to perform pose adjustment is determined according to the expected position, so as to adjust the pose of the straight-arm boom.
In this embodiment, the kinematic model includes a forward kinematic model and a reverse kinematic model, where the forward kinematic model is established according to a rotation method. It can be understood that the rotation method is used for establishing a forward kinematic model, and according to the rotation theory, the joint motion of the series straight arm type arm support is regarded as the rotation motion of each joint arm, and the rotation motion of the rigid body based on the rotation theory can be represented in the form of the exponential product of the motion rotation, so that the posture expression of the rigid body after rotating for a certain angle can be obtained. The specific calculation method is known to those skilled in the art and will not be described herein.
Specifically, when the forward kinematics model is determined, initial pose information of the knuckle arms and the joints of the straight-arm type arm support in an initial state is determined, an initial position of the tail end of the straight-arm type arm support is determined, unit movement rotation amounts corresponding to the knuckle arms and the joints in the initial state are determined, and the forward kinematics model is finally established. And after the current pose information of the straight arm type arm support is input into the forward kinematics model, the current position of the tail end of the straight arm type arm support can be determined.
For example, in one embodiment, the forward kinematics model is:
wherein, g st (theta) represents the current position of the end of the straight arm boom, g st (0) Indicating the initial position of the end of the straight arm, theta i (i =1, 2, 3, 4, 5) represents the current pose information, ξ, corresponding to the knuckle or joint of the straight arm type arm support i (i =1, 2, 3, 4, 5) represents the unit rotation amount of the motion corresponding to the joint arm and the joint in the initial state.
Step S300, determining the expected position of the tail end of the straight arm type arm support according to the current position and the input motion instruction;
in this embodiment, it should be noted that, in practical application, when the straight-arm boom is operated, a corresponding motion instruction may be issued to the straight-arm boom according to an actual requirement so as to move the straight-arm boom, for example, to move 5 meters forward. After the processor receives the motion instruction, the motion instruction needs to be converted to obtain an expected position of the tail end of the straight-arm type arm support based on a preset base coordinate system in space. The expected position refers to the position which is reached by operating the tail end of the straight arm type arm support. The motion command is input by the operator, and may be input by, for example, a remote controller or control buttons. The motion command may be included in a control signal for controlling the movement of the distal end of the straight-arm boom, or may be separately input after the control signal for controlling the movement of the distal end of the straight-arm boom is input.
In this embodiment, a coordinate system established with a position of a turntable joint of the straight-arm boom as an origin is used as a base coordinate system, and after determining a current position of the end of the straight-arm boom, the processor adds a motion amount corresponding to the motion instruction to the current position according to the input motion instruction to determine an expected position of the end of the straight-arm boom in the base coordinate system.
Step S400, determining a platform leveling rotation kinematic pair which is used for adjusting the tail end of the straight arm type arm support so as to enable the tail end to keep a horizontal state in the kinematic pair of the straight arm type arm support, wherein the kinematic pair of the straight arm type arm support comprises joint arm rotation and joint arm extension;
in this embodiment, it should be noted that the joint arm rotation includes a joint that can rotate the joint arm in the kinematic pair of the straight arm type arm support; the telescopic knuckle arm comprises a knuckle arm which can be telescopic by a kinematic pair of the straight arm type arm support. In the kinematic pair of the straight arm type arm support, the platform leveling rotation kinematic pair is a kinematic pair for controlling the tail end of the straight arm type arm support to keep horizontal, and the pose information of the kinematic pair does not need to be calculated and can be directly read through an angle sensor.
Specifically, the processor determines a platform leveling rotation kinematic pair which is used for adjusting the tail end of the straight-arm type arm support so as to enable the tail end to keep a horizontal state in a kinematic pair of the straight-arm type arm support.
Step S500, determining expected pose information corresponding to other kinematic pairs of the straight-arm type arm support except the platform leveling rotary kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotary kinematic pair;
in this embodiment, it should be noted that the other kinematic pairs refer to the rest kinematic pairs except the platform leveling rotation kinematic pair among all the kinematic pairs of the arm support; the expected pose information refers to parameters which are required to set other kinematic pairs when the tail end of the straight arm type arm support moves to an expected position.
Specifically, the processor determines expected pose information corresponding to other kinematic pairs of the straight-arm boom except for the platform leveling rotation kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotation.
And S600, generating a control instruction for adjusting the pose of the straight arm type arm support according to the current pose information corresponding to the platform leveling rotating pair and the expected pose information corresponding to other motion pairs.
In this embodiment, it should be noted that the control instruction is used to adjust the pose of the straight-arm boom, and specifically is an instruction for controlling all kinematic pairs of the straight-arm boom based on the set parameters of the kinematic pairs. The control instruction for adjusting the poses of the straight arm type arm support comprises an instruction for setting pose information of all kinematic pairs of the straight arm type arm support, wherein parameters correspondingly set by the platform leveling rotating kinematic pair are current pose information, and parameters correspondingly set by other kinematic pairs are expected pose information. The current pose information corresponding to the platform leveling rotary motion pair is used as a parameter for controlling the platform leveling rotary motion pair, so that the solving difficulty caused by the redundancy of the degree of freedom is reduced.
Specifically, the processor may generate a control instruction for adjusting the pose of the straight-arm boom according to the current pose information corresponding to the platform leveling rotating pair and the expected pose information corresponding to the other motion pairs.
In the embodiment of the invention, a control structure of a device for controlling the straight arm type arm support consists of a hydraulic servo controller and an industrial personal computer comprising a processor, which are respectively used as a lower computer and an upper computer. The lower computer controls the position of the hydraulic drive system in real time, the upper computer is used for solving complex redundant degree of freedom arm support inverse solution and joint space trajectory planning, the control structure can compensate control errors generated due to hydraulic control time delay to a certain degree through control signals issued by the industrial personal computer to the hydraulic servo controller in a layered control mode, and therefore the response speed of the whole straight arm support control system for controlling the straight arm support is improved. Meanwhile, the problem of unstable control of the straight-arm type arm support caused by the overtime of inverse kinematics solution can be avoided, and the robustness of the straight-arm type arm support control system is improved.
Referring to fig. 2, in an application scenario, the method for controlling the straight-arm boom is applied to an apparatus 100 for controlling the straight-arm boom, and the apparatus 100 for controlling the straight-arm boom includes a remote controller 105, a sensor 104, a hydraulic servo controller 103, a hydraulic drive system 102, and a processor 101. When the remote controller 105 is triggered, the hydraulic servo controller 103 acquires current pose information corresponding to each kinematic pair of the boom at the current moment from the sensor 104 according to the current moment t triggered by the remote controller 105, and inputs the current moment and the current pose information to the processor 101, and the processor 101 determines a control instruction for controlling the pose of the boom based on the acquired current moment and the current pose information, wherein the control instruction comprises pose information corresponding to each kinematic pair of the boom. Specifically, the processor 101 determines a current position of the boom end through the forward kinematics model, inputs the current position into a cartesian space trajectory plan to obtain an expected position of the boom end determined according to the current position and the input motion instruction, inputs the expected position into the reverse kinematics model to determine an expected position corresponding to each kinematic pair of the boom, and determines expected pose information corresponding to each kinematic pair through the expected position corresponding to each kinematic pair in the joint space trajectory plan to generate a control instruction for adjusting the pose of the boom. The hydraulic servo controller 103 controls the hydraulic drive system 102 to drive the multiple kinematic pairs of the boom to synchronously move according to the control instruction. Wherein, the input motion command can be determined by the control signal corresponding to the button of the remote control 105.
According to the method for controlling the straight-arm type arm support, the current pose information of the straight-arm type arm support is obtained, the current position of the tail end of the straight-arm type arm support is determined according to the current position and the input motion instruction, the expected position of the tail end of the straight-arm type arm support is determined according to the current position and the input motion instruction, a platform leveling rotating motion pair used for adjusting the tail end of the straight-arm type arm support to enable the tail end to be kept in a horizontal state is determined in a motion pair of the straight-arm type arm support, the expected pose information corresponding to other motion pairs of the straight-arm type arm support except the platform leveling rotating motion pair is determined according to the expected position and the current pose information corresponding to the platform leveling rotating motion pair, and then the control instruction used for adjusting the pose of the straight-arm support is generated according to the current pose information corresponding to the platform leveling rotating motion pair and the expected pose information corresponding to the other motion pairs. According to the method, when the degree of freedom of the straight-arm type arm support is redundant, the calculation difficulty in determining the control instruction for adjusting the pose of the straight-arm type arm support is effectively reduced by dividing the platform leveling rotating kinematic pair, the calculation speed is greatly increased, the adaptability and the flexibility in a complex high-altitude operation scene are effectively improved, in addition, the automatic control of the tail end position of the arm type high-altitude operation platform can be realized through the control instruction for adjusting the pose of the straight-arm type arm support, the condition that an operator is not required to be familiar with the structural form of an engineering equipment arm support in advance is avoided, the use threshold of the high-altitude operation platform is reduced, the operation of the arm type high-altitude operation platform is simpler, more visual and better, and the labor intensity is reduced.
In one embodiment, determining expected pose information corresponding to other kinematic pairs of the straight-arm boom except for the platform leveling rotational kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotational kinematic pair includes:
and c, inputting the expected position and the current pose information corresponding to the platform leveling rotation pair into the reverse kinematics model to determine the expected pose information corresponding to other motion pairs.
In this embodiment, it should be noted that the inverse kinematics is a process of determining parameters of a joint movable object to be set to achieve a desired posture, that is, a process of setting expected pose information of a kinematic pair of the boom arm, and the inverse kinematics model can solve the expected pose information. When the inverse kinematics model is established, determining solution equations of other kinematic pairs of the straight-arm type arm support except for the platform leveling rotating kinematic pair, and substituting the obtained current pose information corresponding to the expected position and the platform leveling rotating kinematic pair as known quantities into the determined solution equations when the current pose information corresponding to the expected position and the platform leveling rotating kinematic pair is obtained, so as to obtain the expected pose information corresponding to the other kinematic pairs.
Specifically, when expected pose information of other kinematic pairs of the straight-arm boom except for the platform leveling rotating kinematic pair is calculated, the processor inputs the determined current pose information corresponding to the platform leveling rotating kinematic pair and the expected position of the boom tail end as known quantities to the inverse kinematics model, so that the expected pose information corresponding to the other kinematic pairs is obtained after an operation process in the inverse kinematics model.
Specifically, the inverse kinematics model is built by the following steps:
step c1, acquiring initial pose information of the straight arm type arm support, wherein the initial pose information comprises an initial position of a joint and an initial position of the tail end of the straight arm type arm support;
and c2, establishing a reverse kinematics model based on the space geometric relationship among the multiple sections and the initial pose information.
In this embodiment, it should be noted that when the end of the straight-arm boom is controlled to move from the current position to the desired position, the desired position of the end is determined according to the motion instruction after the current position of the end is determined, and then the desired pose information for controlling the kinematic pair of the straight-arm boom to perform pose adjustment is determined according to the desired position, so as to adjust the pose of the straight-arm boom. It can be understood that the initial pose information may be factory pose information of the straight-arm boom, or pose information of the straight-arm boom after a certain pose adjustment is performed, and the determination basis is the initial time for establishing the kinematic model, and the determination or the change can be performed according to actual requirements.
The kinematics model comprises a forward kinematics model and a reverse kinematics model, wherein when the degree of freedom redundancy exists, reverse kinematics solution is carried out based on the expected position of the tail end so as to obtain the expected pose information of all the kinematic pairs of the arm support, a unique solution cannot be determined, the calculation process is complex, and the consumed time is long. In this embodiment, in view of the situation that the degree of freedom redundancy exists, the number of the kinematic pairs that need to be calculated is reduced, the current pose information of the platform leveling rotating kinematic pair is selected as a fixed value, and solution is performed on other kinematic pairs based on the fixed value, so that unique pose information corresponding to all the kinematic pairs of the straight-arm type arm support when the end of the straight-arm type arm support reaches the expected position is obtained. When the inverse kinematics model is established, the solution equations of other kinematic pairs of the straight arm type arm support except the platform leveling rotating kinematic pair are determined, and when the inverse kinematics model is established, the current pose information corresponding to the platform leveling rotating kinematic pair is used as the known quantity for performing inverse kinematics solution in the inverse kinematics model, namely the current pose information corresponding to the platform leveling rotating kinematic pair is directly used as a fixed value, and further solution of the pose information is not needed.
Specifically, in an embodiment, the degree of freedom of the arm support is 6, and the included kinematic pair includes: the method comprises the following steps that (1) a rotary table rotates theta 1, a tower arm rotates theta 2, a tower arm stretches out and draws back theta 3, a fly arm rotates theta 4, a platform is leveled and rotates theta 5, and; the degree of freedom in the same plane is 4, and the included kinematic pair comprises: the tower arm rotates theta 2, the tower arm stretches out and draws back theta 3, the fly jib rotates theta 4, and the platform levels and rotates theta 5. In this embodiment, in the kinematic pair of the boom considering the actual working condition, the platform leveling rotation θ 5 is used for leveling the working platform, and the active adjustment is performed through the angle sensor, so that the platform leveling rotation θ 5 is considered as a known quantity, the current pose information corresponding to the platform leveling rotation θ 5 is directly read in the operation process in the inverse kinematics model of the straight boom, and the current pose information is used as a fixed value of the current inversion to perform solution. And a coordinate system established by the position of the rotary joint of the rotary table is a base coordinate system.
The relevant forward kinematics model can be built according to the method of rotation:
wherein, g st (theta) represents the current position of the end of the straight arm boom, g st (0) Indicating the initial position of the end of the straight arm, theta i (i =1, 2, 3, 4, 5) represents the current pose information, ξ, corresponding to the kinematic pair of the straight arm type arm support i (i =1, 2, 3, 4, 5) represents a unit motion rotation amount corresponding to the kinematic pair of the straight arm support in the initial state.
According to the forward kinematics formula, an expression of the tail end position of the straight arm type arm support can be obtained:
x＝((x a -x 4 )*c24+(z c -z 4 )*s24+(x 4 +θ 3 -x 2 )*c2+z4-z2*s2+x2*c1；
y＝((x a -x 4 )*c24+(z c -z 4 )*s24+(x 4 +θ 3 -x 2 )*c2+z4-z2*s2+x2*s1；
z＝(z c -z 4 )*c24+(x 4 -x a )*s24+(z 4 -z 2 )*c2+(x 2 -θ 3 -x4*s2+z2；
wherein the content of the first and second substances,
c1＝cosθ 1 ，s1＝sinθ 1
c2＝cosθ 2 ，s2＝sinθ 2
c24＝cos(θ 2 +θ 4 )，s24＝sin(θ 2 +θ 4 )
meanwhile, in order to keep the horizontal posture of the tail end of the straight arm type arm support, the following steps are carried out:
θ 2 +θ 4 +θ 5 ＝0；
in this embodiment, the platform leveling rotation θ 5 is used as a known quantity, the other kinematic pairs include a rotary table rotation θ 1, a tower arm rotation θ 2, a tower arm extension θ 3, and a fly arm rotation θ 4, and the 4 equation sets are combined to obtain an inverse kinematics model for determining expected pose information of the other kinematic pairs:
wherein the content of the first and second substances,
x 2 、x 4 the kinematic pairs are respectively the positions of the initial poses corresponding to the rotation of the tower arm and the rotation of the fly arm on the x axis under the base coordinate system;
z 2 、z 4 the kinematic pair is the position of the initial pose corresponding to the rotation of the tower arm and the rotation of the fly arm on the z axis of the base coordinate system;
x a 、z c the initial pose of the tail end of the straight arm type arm support is respectively the positions of an x axis and a z axis under the base coordinate system; the x, y and z are the positions of the expected position of the tail end of the straight arm type arm support on the x, y and z axes under the base coordinate system;
k 4 ＝z 2 -z 4 ；
k 3 ＝(x 4 -x a )*s24+(z c -z 4 )*c24+(z 4 -z 2 )*c2+z 2 -z；
θ i (i =1, 2, 3, 4) represents expected pose information corresponding to other kinematic pairs (turntable rotation θ 1, tower arm rotation θ 2, tower arm extension θ 3, and fly jib rotation θ 4);
θ 5 and representing the current pose information corresponding to the platform leveling rotation kinematic pair.
It is understood that in one embodiment, the kinematic model may also be established using the D-H (Denavit-Hartenberg) parametric method. In the D-H parameter method, a coordinate system is established for each link relative to the previous link to obtain the relative motion of each link relative to the previous link, and a specific method for establishing a kinematic equation of the straight-arm type arm support is known to those skilled in the art and is not described herein again.
In one embodiment, inputting the desired position and the current pose information corresponding to the platform leveling rotation pair into the inverse kinematics model to determine the desired pose information corresponding to other motion pairs includes:
d, determining whether a real solution exists in the inverse kinematics model based on the expected position and the current pose information corresponding to the platform leveling rotating pair;
step e, if the reverse kinematics model is determined to have a real number solution, judging whether the real number solution exceeds a first preset motion range corresponding to other kinematic pairs;
and f, if the real number solution does not exceed the first preset motion range, determining expected pose information corresponding to other kinematic pairs based on the real number solution.
In this embodiment, it should be noted that the determination of the expected pose information corresponding to the other kinematic pairs by using the inverse kinematics model is performed by using a solution equation in the inverse kinematics model. The value corresponding to the expected pose information should be a real number and needs to be within the motion range corresponding to the solved kinematic pair. The motion range corresponding to the other kinematic pair is a first preset motion range, and the first preset motion range represents a motion range which can be or is allowed by the other kinematic pair when the other kinematic pair leaves a factory. Therefore, after the expected positions and the current pose information corresponding to the first number of kinematic pairs are substituted into the calculation, whether a real number solution exists in the inverse kinematics model is judged, and when the solved solution is the real number solution, whether the solution is in the first preset motion range is judged; only if the determined solution is a real solution and the real solution is within the first preset motion range, the expected pose information corresponding to other kinematic pairs can be determined based on the real solution. It can be understood that the real number solution is multiple and corresponds to each of the other kinematic pairs, and the expected pose information corresponding to each of the other kinematic pairs is determined based on the real number solution corresponding to each of the other kinematic pairs.
Specifically, the processor determines whether a real number solution exists in the inverse kinematics model based on the expected position and the current pose information corresponding to the first number of kinematic pairs, determines whether the real number solution exceeds a first preset motion range corresponding to other kinematic pairs of the boom except the first number of kinematic pairs if the real number solution exists in the inverse kinematics model, and determines expected pose information corresponding to other kinematic pairs based on the real number solution if the real number solution does not exceed the first preset motion range.
In one embodiment, inputting the current pose information corresponding to the expected position and platform leveling rotation kinematic pair into an inverse kinematics model to determine the expected pose information corresponding to other kinematic pairs comprises:
and g, if the real number solution does not exist in the reverse kinematics model or the real number solution exceeding the first preset motion range exists, waiting for a preset interval duration to obtain the current pose information corresponding to the platform leveling revolute pair again after the waiting is finished until the real number solution not exceeding the first preset motion range is obtained.
In this embodiment, it should be noted that, when determining whether a real solution exists in the inverse kinematics model, when the obtained solution is not the real solution or a real solution exists but the real solution exceeds a first preset motion range, it is determined that the inverse kinematics model has no solution based on the current known condition. The preset interval duration is a preset time range, for example, 0.02s. The platform leveling rotating kinematic pair is used for adjusting the tail end of the straight arm type arm support to enable the tail end to be kept in a horizontal state, the rotating angle of the platform leveling rotating kinematic pair can be directly read through an angle sensor, when current pose information corresponding to the platform leveling rotating kinematic pair is taken as a known quantity and substituted into a reverse kinematic model, and then the reverse kinematic model is not solved, it is determined that expected pose information corresponding to other kinematic pairs cannot be obtained based on the current pose information corresponding to the platform leveling rotating kinematic pair, reading errors may exist in the current pose information corresponding to the platform leveling rotating kinematic pair, therefore when the reverse kinematic model is determined not to be subjected to real solution, a preset interval duration is waited, and the current pose information corresponding to the platform leveling rotating kinematic pair is obtained again after waiting is finished. And after the current pose information corresponding to the platform leveling rotating kinematic pair is obtained again, re-determining the expected position of the tail end of the straight arm type arm support based on the re-obtained current pose information corresponding to the platform leveling rotating kinematic pair, and inputting the re-determined expected position and the re-obtained current pose information corresponding to the platform leveling rotating kinematic pair into the inverse kinematics model until a real number solution which does not exceed the first preset motion range is obtained.
Specifically, when the processor determines that no real number solution exists in the inverse kinematics model or a real number solution exceeding a first preset motion range exists, the processor waits for a preset interval duration to obtain current pose information corresponding to the platform leveling revolute pair again after waiting is finished until a real number solution not exceeding the first preset motion range is obtained.
In the embodiment of the invention, the plurality of articulated arms comprise a tower arm, a fly arm and a working platform, the joints comprise a rotary table rotary joint, a tower arm telescopic joint, a fly arm rotary joint and a platform leveling rotary joint, the rotary table rotary joint is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint;
the current pose information comprises a first current rotation angle of rotation of the rotary table, a second current rotation angle of rotation of the tower arm, a third current rotation angle of rotation of the fly arm, a fourth current rotation angle of leveling rotation of the platform and a first telescopic amount of telescopic of the tower arm;
the kinematic pair of the straight arm support comprises: the rotary table rotates, the tower arm rotates, the fly arm rotates, the platform is leveled and rotates, and the tower arm stretches out and draws back.
Fig. 3 is a schematic flowchart of solving an inverse kinematics model according to an embodiment of the present invention, and fig. 4 is a schematic diagram of an engineering apparatus according to an embodiment of the present invention. Referring to fig. 3 and 4, in an embodiment of the present invention, an engineering apparatus includes a plurality of joint arms and a joint connecting the plurality of joint arms. The plurality of articulated arms may include a tower arm 113, a fly arm 116, and a work platform 118, and the joints include a turntable rotation joint 111, a tower arm rotation joint 112, a tower arm telescopic joint 114, a fly arm rotation joint 115, and a platform leveling rotation joint 117. The turntable rotary joint 111 is connected with one end of a tower arm 113 through a tower arm rotary joint 112, the other end of the tower arm 113 is connected with one end of a fly arm rotary joint 115 through a tower arm telescopic joint 114, the other end of the fly arm rotary joint 115 is connected with one end of a fly arm 116, and the other end of the fly arm 116 is connected with a working platform 118 through a platform leveling rotary joint 117. The kinematic pair of the arm support comprises: the method comprises the steps of rotation theta 1 of a rotary table, rotation theta 2 of a tower arm, expansion theta 3 of the tower arm, rotation theta 4 of a fly arm and leveling rotation theta 5 of a platform. In the embodiment of the invention, the actual working conditions are considered, the platform leveling rotation theta 5 in the kinematic pair of the arm support is used for leveling the working platform 118, and the working platform is actively adjusted through an angle sensor; therefore, the platform leveling rotation theta 5 is used as a known quantity, when the straight-arm type arm support is subjected to a kinematic solution process, the current pose information corresponding to the platform leveling rotation theta 5 is directly read and is used as a fixed value of the current inversion for solution, and therefore expected pose information corresponding to other kinematic pairs except the platform leveling rotation kinematic pair in all kinematic pairs of the straight-arm type arm support is calculated: the rotation of the rotary table is theta 1, the rotation of the tower arm is theta 2, the expansion of the tower arm is theta 3, and the rotation of the fly jib is theta 4; judging whether a real number solution exists in a calculation result, if so, judging whether the real number solution exceeds a first preset motion range, if not, determining that a feasible solution exists, and at the moment, determining expected pose information corresponding to other kinematic pairs; if no real number solution exists or the real number solution exceeds a first preset motion range, waiting for a preset interval time length to obtain the current pose information theta 5 corresponding to the platform leveling rotation pair again after the waiting is finished, substituting the obtained platform leveling rotation theta 5 into the calculation flow, and performing calculation again until a feasible solution is determined.
In the prior art, when the tail end position of the straight arm type arm support is controlled, the adopted control algorithm has long operation time and cannot achieve the real-time control effect. Moreover, when the degrees of freedom of the straight-arm type arm support are redundant, the difficulty is brought to solving inverse kinematics of each section of arm and the joint connected with the section of arm, a general solution method is adopted in a conventional mode, the calculated amount is increased along with the improvement of the degrees of freedom of the straight-arm type arm support, and the solving time cannot meet the requirement of real-time control. According to the technical scheme provided by the embodiment of the invention, the current pose information corresponding to the platform leveling rotating kinematic pair is determined to be a fixed value, and the rest kinematic pairs are solved, so that the operation speed is greatly increased, the solving precision is high, and the real-time control requirement is met; and through automatic control, an operator does not need to be familiar with the structural form of the straight arm type arm vehicle in advance, the use threshold of the aerial work platform is reduced, the operation of the arm type aerial work platform is simpler and more visual, the controllability is better, and the labor intensity is reduced.
An embodiment of the present invention provides a processor configured to implement the above steps of the method for controlling a straight-arm boom when executed.
The embodiment of the invention provides a device for controlling a straight arm type arm support, which comprises:
the hydraulic driving system is used for driving the straight arm type arm support to move;
the sensor is used for detecting the pose of the straight arm type arm support;
a processor as described in the above embodiments; and
a hydraulic servo controller configured to:
generating pose information according to the pose detected by the sensor in response to the received control signal, and transmitting the generated pose information to the processor;
and controlling a hydraulic driving system to drive the straight arm type arm frame to move according to a control instruction which is received from a processor and used for adjusting the pose of the straight arm type arm frame.
In the embodiment of the present invention, the method further includes:
and the remote controller is used for responding to the user operation and sending the control signal.
An embodiment of the present invention provides an engineering device, including:
the straight arm type arm support comprises a plurality of section arms and joints for connecting the section arms;
the device for controlling the straight arm type arm support in the above embodiment.
In the embodiment of the invention, the plurality of sections of arms comprise a tower arm, a fly arm and a working platform, the joints comprise a rotary table rotary joint, a tower arm telescopic joint, a fly arm rotary joint and a platform leveling rotary joint, the rotary table rotary joint is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint.
An embodiment of the present invention provides a machine-readable storage medium, on which instructions are stored, and when executed by a processor, the instructions cause the processor to execute the method for controlling a straight-arm boom as described in the above embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (14)
1. A method for controlling a straight arm boom, the straight arm boom comprising a plurality of jointed arms and joints connecting the plurality of jointed arms, the method comprising:
acquiring current pose information of the straight arm type arm support, wherein the current pose information comprises a current rotation angle of a knuckle arm and a current telescopic amount of the knuckle arm;
determining the current position of the tail end of the straight arm type arm support according to the current pose information;
determining the expected position of the tail end of the straight arm type arm support according to the current position and the input motion instruction;
determining a platform leveling rotation kinematic pair which is used for adjusting the tail end of the straight-arm type arm support so as to enable the tail end to keep a horizontal state in a kinematic pair of the straight-arm type arm support, wherein the kinematic pair of the straight-arm type arm support comprises joint arm rotation and joint arm extension;
determining expected pose information corresponding to other kinematic pairs of the straight-arm type arm support except the platform leveling rotary kinematic pair according to the expected position and the current pose information corresponding to the platform leveling rotary kinematic pair; and
and generating a control instruction for adjusting the pose of the straight-arm type arm support according to the current pose information corresponding to the platform leveling rotating pair and the expected pose information corresponding to the other motion pairs.
2. The method of claim 1, wherein the determining the expected pose information corresponding to the other kinematic pairs of the straight-arm boom except the platform leveling revolute kinematic pair according to the expected position and the current pose information corresponding to the platform leveling revolute kinematic pair comprises:
and inputting the expected position and the current pose information corresponding to the platform leveling rotation kinematic pair into an inverse kinematics model to determine the expected pose information corresponding to the other kinematic pairs.
3. The method of claim 2, wherein inputting the desired position and the current pose information corresponding to the platform leveling swivel kinematic pair to an inverse kinematics model to determine the desired pose information corresponding to the other kinematic pairs comprises:
determining whether a real solution exists in the inverse kinematics model or not based on the expected position and current pose information corresponding to the platform leveling rotation kinematic pair;
if the real number solution exists in the inverse kinematics model, judging whether the real number solution exceeds a first preset motion range corresponding to the other kinematic pairs or not;
and if the real number solution does not exceed the first preset motion range, determining expected pose information corresponding to the other kinematic pairs based on the real number solution.
4. The method of claim 3, wherein inputting the desired position and the current pose information corresponding to the platform leveling swivel kinematic pair to an inverse kinematics model to determine the desired pose information corresponding to the other kinematic pairs comprises:
and if the real number solution does not exist in the inverse kinematics model or the real number solution exceeding the first preset motion range exists, waiting for a preset interval duration to obtain the current pose information corresponding to the platform leveling rotation freedom again after the waiting is finished until the real number solution not exceeding the first preset motion range is obtained.
5. The method of claim 2, wherein the inverse kinematics model is created by:
acquiring initial pose information of the straight-arm type arm support, wherein the initial pose information comprises an initial position of a joint and an initial position of the tail end of the straight-arm type arm support;
and establishing an inverse kinematics model based on the space geometrical relationship among the multiple knuckle arms and the initial pose information.
6. The method according to claim 1, wherein the obtaining the current pose information of the straight-arm boom comprises:
and responding to a monitored control signal for controlling the tail end of the straight-arm type arm support to move, and acquiring the current pose information of the straight-arm type arm support at the current moment.
7. The method of claim 1, wherein the determining the current position of the tip of the boom according to the current pose information comprises:
inputting the current pose information to a forward kinematics model to determine the current position of the tail end of the straight-arm support;
wherein the forward kinematics model is established based on a cyclometric method.
8. The method of any one of claims 1 to 7, wherein the plurality of articulated arms comprises a tower arm, a fly arm, and a work platform, the joints comprise a turret revolute joint, a tower arm telescope joint, a fly arm revolute joint, and a platform leveling revolute joint,
the rotary joint of the rotary table is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint;
the current pose information comprises a first current rotation angle of rotation of the rotary table, a second current rotation angle of rotation of the tower arm, a third current rotation angle of rotation of the fly arm, a fourth current rotation angle of leveling rotation of the platform and a first telescopic amount of telescopic of the tower arm;
the kinematic pair of the straight arm type arm support comprises: the method comprises the steps of rotating a rotary table, rotating a tower arm, rotating a fly arm, leveling and rotating a platform and stretching the tower arm.
9. A processor configured to perform the method for controlling a boom of a straight arm according to any one of claims 1 to 8.
10. A device for controlling a straight arm boom, comprising:
the hydraulic driving system is used for driving the straight arm type arm support to move;
the sensor is used for detecting the pose of the straight arm type arm support;
the processor of claim 9; and
a hydraulic servo controller configured to:
generating pose information from the pose detected by the sensor in response to the received control signal and delivering the generated pose information to the processor;
and controlling the hydraulic drive system to drive the straight-arm type arm support to move according to a control instruction for adjusting the pose of the straight-arm type arm support received from the processor.
11. The apparatus of claim 10, further comprising:
and the remote controller is used for responding to the user operation and sending the control signal.
12. An engineering apparatus, comprising:
the straight arm type arm support comprises a plurality of section arms and joints for connecting the section arms;
the device for controlling a straight arm boom of claim 10 or 11.
13. The engineering equipment of claim 12, wherein the plurality of articulated arms comprise a tower arm, a fly arm and a working platform, the joints comprise a rotary table rotary joint, a tower arm telescopic joint, a fly arm rotary joint and a platform leveling rotary joint, the rotary table rotary joint is connected with one end of the tower arm through the tower arm rotary joint, the other end of the tower arm is connected with one end of the fly arm rotary joint through the tower arm telescopic joint, the other end of the fly arm rotary joint is connected with one end of the fly arm, and the other end of the fly arm is connected with the working platform through the platform leveling rotary joint.
14. A machine-readable storage medium having instructions stored thereon, which when executed by a processor cause the processor to perform the method for controlling a boom according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210983567.XA CN115328216A (en) | 2022-08-16 | 2022-08-16 | Method, processor, device and engineering equipment for controlling straight arm type arm support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210983567.XA CN115328216A (en) | 2022-08-16 | 2022-08-16 | Method, processor, device and engineering equipment for controlling straight arm type arm support |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115328216A true CN115328216A (en) | 2022-11-11 |
Family
ID=83923871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210983567.XA Pending CN115328216A (en) | 2022-08-16 | 2022-08-16 | Method, processor, device and engineering equipment for controlling straight arm type arm support |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115328216A (en) |
-
2022
- 2022-08-16 CN CN202210983567.XA patent/CN115328216A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10702350B2 (en) | Robot system | |
| US6430473B1 (en) | Power assist apparatus and control method for same | |
| US7211978B2 (en) | Multiple robot arm tracking and mirror jog | |
| CN110893118A (en) | Surgical robot system and method for controlling movement of robot arm | |
| JPH07180173A (en) | Controller of civil work machinery | |
| KR101808295B1 (en) | Welding robot system control method for working of curved block narrow range | |
| JPH06250728A (en) | Direct teaching device for robot | |
| CN115328216A (en) | Method, processor, device and engineering equipment for controlling straight arm type arm support | |
| CN114098955A (en) | Mechanical arm, slave operation device and surgical robot | |
| CN114098958A (en) | Mechanical arm, slave operation device and surgical robot | |
| CN115305980B (en) | Method, processor, device and engineering equipment for controlling folding arm type arm support | |
| JP3415611B2 (en) | Manipulator attitude control device | |
| JP7161334B2 (en) | robot system | |
| CN115302509A (en) | Method, processor and device for controlling engineering equipment arm support and engineering equipment | |
| JP2014231113A (en) | Reverse kinetics solution for multijoint link mechanism and teaching data preparation device utilizing the reverse kinetics solution | |
| CN114098951A (en) | Mechanical arm, slave operation device and surgical robot | |
| JPH11210015A (en) | Locus controller for construction equipment and operating device thereof | |
| CN115305979B (en) | Method, processor, device and engineering equipment for controlling arm support of engineering equipment | |
| JPH06236206A (en) | Control method for industrial robot mounted on turn table | |
| JP3749319B2 (en) | Trajectory control device for construction machinery | |
| JP7150446B2 (en) | Work device using parallel link mechanism | |
| JP7388870B2 (en) | Robot systems and control equipment | |
| JP7296252B2 (en) | Robot control system and method | |
| JP2566475B2 (en) | Robot rotation axis speed control device | |
| JP2572092B2 (en) | Robot teaching method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |