The application discloses a kind of heterogeneous double mechanical arm end
pose mapping method,
system, device and storage medium, method includes the following steps: S1: obtaining the
angular velocity of each joint of main mechanical arm, position and end attitude information, the spatial position and attitude of main mechanical arm end are calculated;S2: the motion trajectory data in the teaching process of main mechanical arm is collected, long short-
term memory network model is established, the
pose of future
time step is predicted, and the motion trajectory of slave mechanical arm is planned;S3:
data information is transferred, and communication
delay problem is solved;S4: the
pose information of main mechanical arm end is solved,
joint angle is adjusted, and error is adjusted in combination with proportional-integral-derivative control;S5: position and velocity
signal are filtered, and mechanical arm dynamics model is established,
adaptive control law is designed, and trajectory
smoothing algorithm is used;S6: virtual obstacle map is established, and safe
working space is limited.The application realizes the comprehensive, accurate mapping and prediction of the end pose of heterogeneous double mechanical arm.