Bionic control method and control system of mechanical arm

Abstract

The invention relates to a bionic control method of a mechanical arm. Control equipment is produced for simulating various joint positions of an arm. Various joints of the control equipment correspond to various sections of arm frames of the mechanical arm. The method comprises the following steps of: simulating motion processes of various sections of arm frames of the mechanical arm by the control equipment, and generating angle change values of various joints according to the motion processes; and calculating motion angle values of various sections of arm frames of the mechanical arm according to the angle change values of various joints, and controlling various sections of arm frames of the mechanical arm to rotate correspondingly. The method provided by the invention further comprises the following steps of: simulating motions of various sections of arm frames of the mechanical arm by the control equipment, and generating current angle values of various joints; and controlling various sections of arm frames of the mechanical arm to rotate in corresponding angles according to the current angle values of various joints. According to the invention, the mechanical arm is operated by an operator through bionic motions so that various sections of arm frames of the mechanical arm act simultaneously; the mechanical arm is coherent to act; the motion process is steady; the motion change of the remote end of the mechanical arm is small; and the accuracy for the mechanical arm to reach an appointed position is effectively increased.

Description

technical field [0001] The invention relates to the technical field of engineering machinery control, in particular to a bionic control method and control system for a mechanical arm. Background technique [0002] Many large-scale construction machinery, especially construction machinery with multi-section booms or bending structure mechanical arms, such as concrete pump trucks, cranes, excavators, etc., require precise control of the mechanical arms to meet the operating requirements. At present, the control method of the traditional manipulator adopts the control mode of hydraulic manual and wireless remote control, and each arm joint of the manipulator is manually controlled to make the controlled object move to the target position "one step at a time". [0003] see figure 1 , showing a schematic diagram of the existing robotic arm control system, including a main controller 11, wirelessly connected to the main controller 11, and sending control information to the remote...

AI Technical Summary

Problems solved by technology

[0005] Although the above-mentioned mechanical arm control system can make the mechanical arm 15 reach the designated position, it needs the operator to control each section of the mechanical arm to move one by one in sequence. The movement of the distal end of the arm varies greatly, and the accuracy is low

And the control process takes a long time, consumes a lot of energy, and the control efficiency is low

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