CN203882196U - Control system of multi-section mechanical arm - Google Patents
Control system of multi-section mechanical arm Download PDFInfo
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- CN203882196U CN203882196U CN201420141792.XU CN201420141792U CN203882196U CN 203882196 U CN203882196 U CN 203882196U CN 201420141792 U CN201420141792 U CN 201420141792U CN 203882196 U CN203882196 U CN 203882196U
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- mechanical arm
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Abstract
The utility model discloses a control system of a multi-section mechanical arm. The control system of the multi-section mechanical arm includes a remote control device which is used for transmitting movement instructions to the multi-section mechanical arm, a plurality of joint sections which are connected with each other sequentially, a movement actuating mechanism which is connected with the plurality of joint sections, a plurality of pose sensors which are used for measuring the angle information of the joint sections, a pose processor which receives the angle information transmitted by the plurality of pose sensors and constructs a three-dimensional space coordinate system which adopts a rotation center of a rotation supporting seat as an origin point, and converts the angle information into relative angles in the three-dimensional space coordinate system so as to obtain the pose data of the plurality of joint sections, a movement trajectory optimization arithmetic unit which calculates the movement angle and speed required by each joint section by using optimization algorithms, and a movement servo controller which is used for controlling the movement actuating mechanism according to the movement angle and speed required by each joint section.
Description
Technical field
The utility model relates to a kind of multi-joint section, relates in particular to a kind of intelligent control system of more piece mechanical arm.
Background technology
The joint segments that existing multi-joint section is not waited by 4～6 joint length is connected successively by swinging joint section, form a plane articulation type mechanical arm with 6 joint segments, its one end is connected with a pivoting support, by bearing, drive joint segments gyration can make joint segments free end realize any movement within the scope of certain space, according to the difference of its length, this mechanism is usually used in delivering concrete as concrete mixer, or carry personnel's equipment as High Altitude Platform car, also for as the equipment such as robot car of explosive-removal robot or operation in narrow space.
The control of multi-joint section free end position is to utilize opening or draw in and making mechanical arm change and change the free-ended locus of mechanical arm in space angle and length of the driving mechanism driving joint be arranged in each turning joint.As adopt hydraulic jack to drive or DC servo motor driving.
In use procedure, for realizing the variation of jib free end position, need multi-arm the teamwork of joint and slew gear realize.The adjustment that operator need to carry out pose to each joint segments according to use experience and on-the-spot judgement just can arrive job requirement position by mobile jib free end, as shown in Figure 1, jib free end position A moves to B point, need the 4th and the 2 the 3 three joint jib teamworks, and the angle of opening due to each jib and speed only relies on the judgement of operator's naked eyes, thus jib free end travel cannot smooth transition.The artificial pose of general mechanical arm adjust property cannot take into account each joint attitude of mechanical arm on work affect mechanical arm when served as concrete distributing machinery in delivering concrete process on the mobile impact of concrete, conveying to welding gas welding material when and for example mechanical arm serves as robotic weld arm, and the factors such as bearing strength test of mechanical arm.Inappropriate jib attitude has very large negative effect to the life-span of the stability in the mechanical arm course of work and mechanical arm.
Utility model content
The purpose of this utility model is to provide a kind of control system of single oil cylinder, in order to solve existing more piece mechanical arm, by artificial visually examine, regulates, and is had to the problem of very large negative effect the life-span of the stability in the mechanical arm course of work and mechanical arm.
The control system of a kind of more piece mechanical arm of the utility model, this more piece mechanical arm comprises pivoting support and a plurality of joint segments, the plurality of joint segments connects successively, one end of the plurality of joint segments is arranged at the centre of gyration of this pivoting support, this control system comprises: telechiric device, for sending movement instruction to this more piece mechanical arm; Moving type actuating mechanism, is connected with the plurality of joint segments, for driving the plurality of joint segments motion; A plurality of Position and attitude sensors, correspondence is installed in the plurality of joint segments, for measuring the respectively angle information of this joint segments; Pose processor, be connected with the plurality of Position and attitude sensor, described pose processor receives this angle information that the plurality of Position and attitude sensor sends, and set up and take the three-dimensional coordinate system that the centre of gyration of this pivoting support is initial point, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of the plurality of joint segments; Motion track is optimized arithmetical unit, for obtaining these pose data of this pose processor, and according to this movement instruction in conjunction with these pose data, use optimized algorithm to calculate angle and the speed to the required movement of each this joint segments; Motion servo controller, for according to angle and the speed of the required movement of this joint segments, controls this moving type actuating mechanism, and corresponding respectively this joint segments that drives of this moving type actuating mechanism is moved.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, the direction of motion vector speed that this movement instruction is this mechanical arm tail end.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, this Position and attitude sensor is absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, this pose processor also carries out level and smooth and filtering processing to this angle information.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, this telechiric device can be controlled one or more this joint segments locking.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, this motion track is optimized arithmetical unit according to the joint segments calculation optimization path that there is no locking.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein, this motion track is optimized arithmetical unit and is used optimized algorithm to calculate angle and the speed of the required movement of each this joint segments are comprised: this motion track is optimized the target location that arithmetical unit receives the required movement of free end of this more piece mechanical arm that this telechiric device sends, the maximum displacement moving according to this free end, calculates angle and speed that respectively this joint segments should move.
According to an embodiment of the control system of a kind of more piece mechanical arm of the utility model, wherein,, by inverting, solve an equation and Minimum-Norm Method solves the contrary motion of every joint mechanical arm.
The utility model also provides a kind of control method of more piece mechanical arm, a kind of control method of more piece mechanical arm, this more piece mechanical arm comprises: a plurality of joint segments, and the plurality of joint segments connects successively, and one end of the plurality of joint segments is arranged at the pivoting support of more piece mechanical arm; This control method comprises: measure the respectively angle information of this mechanical arm; The three-dimensional coordinate system that the centre of gyration of mechanical arm is initial point is take in foundation, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of a plurality of joint segments; According to movement instruction, in conjunction with these pose data, use optimized algorithm to calculate angle and the speed to the required movement of each this joint segments; According to angle and the speed of the required movement of each this joint segments, control this moving type actuating mechanism, corresponding respectively this joint segments that drives of this moving type actuating mechanism is moved.
According to the control method of a kind of more piece mechanical arm of the utility model, wherein, filter the change of rocking this produced angle information because of joint segments.
According to the control method of a kind of more piece mechanical arm of the utility model, wherein, control one or more this joint segments locking.
According to the control method of a kind of more piece mechanical arm of the utility model, wherein, this movement instruction comprises: the target position information of the required movement of free end of more piece mechanical arm; According to movement instruction in conjunction with these pose data, using optimized algorithm to calculate comprises angle and the speed of the required movement of each this joint segments: the target position information that receives the required movement of free end of sending mechanical arm, the maximum displacement moving according to this free end, calculates angle and speed that respectively this joint segments should move.
In sum, the utility model is measured the respectively angle information of this joint segments by a plurality of Position and attitude sensors are set, moving type actuating mechanism drives the plurality of joint segments motion, motion servo controller is controlled angle and the speed that sends the required movement of each joint segments to this moving type actuating mechanism, makes motion servo controller, moving type actuating mechanism 6 form mechanical arm with Position and attitude sensor 4 and moves closed-loop control system.And be optimized calculating by pose processor and motion track optimization arithmetical unit, obtain angle and the speed of the required movement of each joint segments.Also just reach the automatic control to more piece mechanical arm, improved stability in the mechanical arm course of work and the life-span of mechanical arm.
Accompanying drawing explanation
Figure 1 shows that the module map of the intelligent control system of the utility model more piece mechanical arm;
Figure 2 shows that the syndeton schematic diagram of more piece mechanical arm;
The schematic diagram of the syndeton that Figure 3 shows that more piece mechanical arm in three-dimensional coordinate system;
Figure 4 shows that another module map of the intelligent control system of the utility model more piece mechanical arm.
Embodiment
The module map that Figure 1 shows that the intelligent control system of the utility model more piece mechanical arm, the intelligent control system of more piece mechanical arm comprises: motion servo controller 1, motion track are optimized arithmetical unit 2, pose processor 3, a plurality of Position and attitude sensor 4, telechiric device 5, moving type actuating mechanism 6 and a plurality of joint segments 7.
As shown in Figure 1, telechiric device 5 can be optimized arithmetical unit 2 with motion track and communicates by letter.A plurality of Position and attitude sensor 4 correspondences are installed on a plurality of mechanical arms, and a plurality of Position and attitude sensors 4 are all connected with pose processor 3.Pose processor 3 connects motion track and optimizes arithmetical unit 2.Motion track is optimized arithmetical unit 2 and is connected motion servo controller 1.
Figure 2 shows that the syndeton schematic diagram of more piece mechanical arm, as shown in Figure 2, a plurality of joint segments 7 are generally 4-6 joint joint mechanical arm, the 5 joint joint mechanical arms of take are example, the syndeton of more piece mechanical arm comprises: joint segments 11-15 connects successively, and one end of joint segments 11 is arranged at the centre of gyration of the pivoting support 10 of more piece mechanical arm.Joint segments 11-15 successively hinging manner is fixed on the centre of gyration of a pivoting support 10.Between joint segments, be connected through the hinge, each joint joint segments all can be under driven effect, do the revolution of 0～360 degree around the hinge connecting, and can the have mercy on centre of gyration of pivoting support 10 of joint segments 11 is done the revolution of 0～360 degree.Pivoting support 10 self also can be done the revolution of 0～360 degree.
The schematic diagram of the syndeton that Figure 3 shows that more piece mechanical arm in three-dimensional coordinate system, with reference to figure 1, Fig. 2 and Fig. 3, a plurality of Position and attitude sensors 4 respectively correspondence are arranged on joint segments 11-15, in order to measure the absolute angle of each joint segments, and send the absolute angle recording to pose processor 3.Pose processor 3 is set up and be take the three-dimensional coordinate system XYZ that the centre of gyration of pivoting support 10 is initial point.And be the relative angle in three-dimensional coordinate system by the absolute angle corresponding conversion of each joint segments.And calculate the pose data of a plurality of joint segments.Pose data comprise: the rotationangleφ of the relative centre of gyration 10 of more piece mechanical arm, the angle theta of joint segments 11 and surface level
1, the angle theta of joint segments 12 and surface level
2, the angle theta of joint segments 13 and surface level
3, the angle theta of joint segments 14 and surface level
4and the angle theta of joint segments 15 and surface level
5, the angle α of the joint arm of joint segments 11 and level ground
1, joint segments 12 and the joint arm of level ground angle α
2, joint segments 13 and the joint arm of level ground angle α
3, joint segments 14 and the joint arm of level ground angle α
4and the angle α of the joint arm of joint segments 15 and level ground
5.The length L of joint segments 11
1, the length L of joint segments 12
2, the length L of joint segments 13
2, the length L of joint segments 14
2and the length L of joint segments 15
2.
Motion track is optimized arithmetical unit 2 and is read mechanical arm moving direction and the speed command that mechanical arm pose data that pose processor 3 generates and telechiric device 5 send, with angle and the speed of the required movement of optimum optimization moving track calculation each joint segments 11-14, and angle and the speed result calculated are sent to motion servo controller 1.Motion servo controller 1 optimizes according to motion track angle and 6 each joint segments of the driving 11-15 motions of speed output control moving type actuating mechanism that arithmetical unit 2 calculates.
Moving type actuating mechanism 6 can comprise: motor, gear train and oil cylinder or cylinder etc.Motor and oil cylinder are for controlling the movement of each joint segments, therefore, in above-described embodiment, pose processor 3 can utilize the length of angle between above-mentioned each joint segments and each joint segments, oil cylinder length corresponding to each joint segments be can also calculate, and the current location of oil cylinder length and pose data and the exercise data that delta data calculates each joint segments utilized.
For a kind of embodiment, because large-scale manipulator is as concrete distributing mechanism, mechanical system characteristic causes each joint segments, in moving process, rocking in certain limit can occur, the absolute angle value that causes each measured joint segments of Position and attitude sensor 4 is rocked and is changed with joint segments, but the variation of this kind of angle does not represent the pose of macroscopical shangguan sections, change has not occurred.Therefore, the absolute data that appearance state sensor 4 in pose processor 3 each joint segments of reception sends is also carried out in processing procedure data according to optimized algorithm, need to filter and to rock produced misdata because of joint segments, and eliminate the impact that rocking of joint segments caused.
The specific implementation that filtration is rocked produced misdata because of joint segments can be utilized median average filter circuit to carry out level and smooth and filtering to arm angle shake by pose processor 3 and process.The absolute angle coordinate that pose processor 3 sends each Position and attitude sensor 4 carries out quick continuous sampling, remove a maximal value and a minimum value, then the arithmetic mean of calculating sampling data, to reach to filter, rock the misdata being produced because of joint segments, and eliminate the impact that rocking of joint segments caused.
Referring to figs. 1 to 4, operating personnel control telechiric device 5, only need to consider the movement of position of the free end 16 of mechanical arm, to the free end 16 of mechanical arm, send similar as advance, retreat, rise, decline, descend obliquely and tiltedly degradation direction signal, guidance by sight mechanical arm free end moves to desired location.And the concrete motion track optimization arithmetical unit 2 that moves through of each joint segments calculates.
Motion track is optimized arithmetical unit 2 and first the given direction of motion vector signal of telechiric device 5 is resolved, motion command is decomposed according to the mobile maximum displacement of free end 16, utilize genetic algorithm successively the required moving interpolation of each joint segments to be calculated, obtain direction of motion and the velocity magnitude of each joint segments in least displacement step-length.Be that motion track optimization arithmetical unit 2 can be by constantly least displacement step-length being carried out to interative computation, final manipulator motion track is least displacement iteration sum.The final manipulator motion data matrix obtaining under least displacement step-length.Motion servo controller 3 is according to kinematic matrix Data Control moving type actuating mechanism 6, to realize the movement of mechanical arm.
In one embodiment, the moving direction of the free end 16 that telechiric device 5 is exported and velocity magnitude signal, that motion track is optimized the switching signal whether arithmetical unit 2 starts least displacement iteration accumulating operation, as telechiric device 5 does not send moving direction and velocity magnitude signal, motion track optimization arithmetical unit 2 interrupts computing, and manipulator motion servo controller 3 also orders moving type actuating mechanism 6 to stop action simultaneously.
Suppose that telechiric device 5 is for cross rocking bar telechiric device, the directions X of the direction of rocking bar and Y-direction, be respectively used to the direction of quadrant X-axis in corresponding control chart 3 and Y-axis, when cross rocking bar telechiric device change controlling party to, as cross rocking bar from the slippage of X forward to X-axis forward and Y-axis forward form any direction quadrant, motion track is optimized arithmetical unit 2 and is moved after last least displacement computing at the X-axis forward that completes mechanical arm, forwards to immediately and in the direction after change, carries out the computing of straight-line least displacement step-length.
Figure 4 shows that another module map of the intelligent control system of the utility model more piece mechanical arm, as shown in Figure 4, telechiric device 5 communicates with receiver of remote-control sytem 8.Receiver of remote-control sytem 8, Position and attitude sensor 4, pose processor 3 and the mobile arithmetical unit 2 of optimizing all connect by data bus 9.
As shown in Figure 4, telechiric device 5 sends movement and the direction control signal of mechanical arm.Receiver of remote-control sytem 8 receives this and moves and direction control signal.Position and attitude sensor 4 records the absolute angle of each joint segments.Pose processor 3 receives the absolute angle of each joint segments 11-15 by data bus 9, pose processor 3 is set up and be take the three-dimensional coordinate system that the centre of gyration of pivoting support 10 is initial point, and is the relative angle in three-dimensional coordinate system by the absolute angle corresponding conversion of each joint segments.Motion track is optimized arithmetical unit 2 by the relative angle in the three-dimensional coordinate system of data bus 9 reception movements and direction control signal and each joint segments, with angle and the speed of the required movement of each joint segments of optimum optimization moving track calculation.Motion track is optimized arithmetical unit 2 angle of the required movement of each joint segments and velocity information is sent to motion servo controller 1.1 pair of moving type actuating mechanism of motion servo controller transmits control signal, control moving type actuating mechanism 6 according to control signal, control respectively pivoting support 10, joint segments 11, joint segments 12, joint segments 13, joint segments 14 and joint segments 15, according to preferred mobile scheme, control mechanical arm and steadily move to target location.
Wherein, the telechiric device in above-described embodiment 5 can make the hardware of rocking bar control device, computing machine or the appropriate signal of outbound course.
Wherein, the Position and attitude sensor in above-described embodiment 3 can be absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor etc.
As Figure 1-4, sometimes, may there is interfering the barrier of mechanical joint section motion in mechanical arm space of living in, in this environment for use, operator can pass through telechiric device 5, lock as the case may be the locus of a certain joint segments or several joint segments, when operator changes the position of mechanical arm free end 16, motion track is optimized arithmetical unit 2 and will first be kept the locus by lock point joint segments constant, according to calculating and the control of the carrying out mechanical arm optimum optimization motion track that there is no the joint segments of locking, for example lock joint segments 11 and 12 constant, now, only need to calculate the position of the required movement of joint segments 13-15.
At multi-arm, saving crucial problem in synkinetic robotization control is exactly solving of the contrary motion of mechanical arm, mechanical arm can be reduced to one group of control problem with multi-redundant mechanical arm and solve, by inverting, solve an equation and Minimum-Norm Method solves the contrary motion of every joint mechanical arm.Minimum-Norm Method can guarantee, when completing and moving to intended target, to keep the continuous and stable of each articulation structure and the accekeration in each joint less, therefore adopts Minimum-Norm Method to solve the contrary motion of mechanical arm.
By above method, can realize mechanical arm is moved to the track calculating of intended target and controlled.And to each joint joint segments opening or the speed of dwindling is carried out that independence is calculated and controls, guaranteed stablizing of arm support tail end track translational speed.In mechanical arm moving process, every joint joint segments changes along with disconnected generation the in joint segments locus with respect to the arm of force of joint driving mechanism, above-described embodiment is adjusted the driving force of every joint joint segments in real time, guarantees that every joint joint segments translational speed is optimized the drawn result of calculation of arithmetical unit according to motion track consistent.
The utility model provides a kind of control method of more piece mechanical arm in addition, can utilize the intelligent control system of above-mentioned more piece mechanical arm to realize, and the control method of more piece mechanical arm comprises:
Measure the respectively angle information of this mechanical arm;
The three-dimensional coordinate system that the centre of gyration of mechanical arm is initial point is take in foundation, this angle information is converted to the relative angle in this three-dimensional coordinate system, to obtain the pose data of a plurality of joint segments;
According to movement instruction, in conjunction with these pose data, use optimized algorithm to calculate angle and the speed to the required movement of each this joint segments;
According to angle and the speed of the required movement of each this joint segments, control this moving type actuating mechanism, corresponding respectively this joint segments that drives of this moving type actuating mechanism is moved.
Wherein, the control method of more piece mechanical arm can also comprise, filters the change of rocking produced angle information because of joint segments.
Wherein, the control method of more piece mechanical arm can also comprise, controls one or more this joint segments locking, controls the joint segments motion of all the other non-lockings.
Above-mentioned movement instruction comprises: the target position information of the required movement of free end of more piece mechanical arm.
Above-mentioned according to movement instruction in conjunction with these pose data, using optimized algorithm to calculate comprises angle and the speed of the required movement of each this joint segments: the target position information that receives the required movement of free end of sending mechanical arm, the maximum displacement moving according to this free end, calculates angle and speed that respectively this joint segments should move.
In sum, the utility model adopts minimum step mode to control the beat speed that arm support tail end moves, by being set, a plurality of Position and attitude sensors measure the respectively angle information of this joint segments, moving type actuating mechanism drives the plurality of joint segments motion, motion servo controller is controlled angle and the speed that sends the required movement of each joint segments to this moving type actuating mechanism, makes motion servo controller, moving type actuating mechanism and Position and attitude sensor form mechanical arm and moves closed-loop control system.And be optimized calculating by pose processor and motion track optimization arithmetical unit, obtain angle and the speed of the required movement of each joint segments.Also just reach the automatic control to more piece mechanical arm, improved stability in the mechanical arm course of work and the life-span of mechanical arm.
Although described the utility model with reference to several exemplary embodiments, should be appreciated that term used is explanation and exemplary and nonrestrictive term.Because the utility model can specifically be implemented in a variety of forms and not depart from spirit of the present utility model or essence, so be to be understood that, above-described embodiment is not limited to any aforesaid details, and explain widely in the spirit and scope that should limit in claims, therefore fall into whole variations in claim or its equivalent scope and remodeling and all should be claims and contain.
Claims (3)
1. a control system for more piece mechanical arm, this more piece mechanical arm comprises pivoting support and a plurality of joint segments, and the plurality of joint segments connects successively, and one end of the plurality of joint segments is arranged at the centre of gyration of this pivoting support, it is characterized in that, and this control system comprises:
Telechiric device, for sending movement instruction to this more piece mechanical arm;
Moving type actuating mechanism, is connected with the plurality of joint segments, for driving the plurality of joint segments motion;
A plurality of Position and attitude sensors, correspondence is installed in the plurality of joint segments, for measuring the respectively angle information of this joint segments;
Pose processor, is connected with the plurality of Position and attitude sensor;
Motion track is optimized arithmetical unit, is connected with this pose processor communication;
Motion servo controller, optimizes arithmetical unit communication connection with this motion track, for controlling this moving type actuating mechanism, corresponding respectively this joint segments that drives of this moving type actuating mechanism is moved.
2. the control system of more piece mechanical arm as claimed in claim 1, is characterized in that, this Position and attitude sensor is absolute light photoelectric coder sensor, current mode analog sensor or voltage-type analog sensor.
3. the control system of more piece mechanical arm as claimed in claim 1, is characterized in that, this telechiric device can be controlled one or more this joint segments locking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420141792.XU CN203882196U (en) | 2014-03-26 | 2014-03-26 | Control system of multi-section mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420141792.XU CN203882196U (en) | 2014-03-26 | 2014-03-26 | Control system of multi-section mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776822A (en) * | 2015-04-15 | 2015-07-15 | 武汉地和智能有限公司 | Multi-section boom posture detecting system and method |
| CN106695803A (en) * | 2017-03-24 | 2017-05-24 | 中国民航大学 | Continuous robot posture control system |
| CN110741827A (en) * | 2018-07-23 | 2020-02-04 | 保利斯塔光力公司-Cpfl | System for mechanized pruning in urban areas |
| CN114753640A (en) * | 2022-04-01 | 2022-07-15 | 中联重科股份有限公司 | Arm support tail end motion planning method and device, control system and engineering machinery |
-
2014
- 2014-03-26 CN CN201420141792.XU patent/CN203882196U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104776822A (en) * | 2015-04-15 | 2015-07-15 | 武汉地和智能有限公司 | Multi-section boom posture detecting system and method |
| CN106695803A (en) * | 2017-03-24 | 2017-05-24 | 中国民航大学 | Continuous robot posture control system |
| CN110741827A (en) * | 2018-07-23 | 2020-02-04 | 保利斯塔光力公司-Cpfl | System for mechanized pruning in urban areas |
| CN114753640A (en) * | 2022-04-01 | 2022-07-15 | 中联重科股份有限公司 | Arm support tail end motion planning method and device, control system and engineering machinery |
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