A precise control system and method for a manipulator

Abstract

The invention discloses a precise control system for a manipulator, which includes a video acquisition module, an image processing module, a manipulator motion positioning point matching module, a motion difference calculation module, a fuzzy controller, a manipulator motion driver, a path planning module and a motion target position input module . A method for precise control of a manipulator, the specific technical solution of which is: 1. Determine the position of the moving target of the manipulator; 2. A video acquisition module and an image processing module judge the current position; The path between the position coordinates; 4. Extract the motion control signals of each joint node of the manipulator at different times; 5. Start the video acquisition device; 6. Obtain the coordinate values ​​of the positioning points in the image; 7. The fuzzy controller generates control signals; 8. The manipulator motion control signal drives the manipulator to continue moving; 9. The video acquisition device obtains the coordinate values ​​of the manipulator and matches them with the planned coordinate values. The invention realizes real-time and precise adjustment of the motion route of the manipulator.

Description

technical field [0001] The invention belongs to the field of manipulator control, and in particular relates to a precise control system and method for a manipulator. Background technique [0002] At present, in the field of modern industrial manufacturing, there is a very strong application demand for manipulators. At the same time, with the continuous improvement of the level of industrial automation, higher requirements are placed on the flexibility of manipulator manipulation. The traditional manipulator control method is relatively simple, the most typical is to pre-set the control program at the control end of the manipulator, so that the manipulator can be operated and controlled according to the preset motion mode. The control accuracy of this control method is not high during assembly and operation, and with the frequent movements of the manipulator, operational errors may gradually occur. Because this control method does not manage and control the operation error ...

AI Technical Summary

Problems solved by technology

The control accuracy of this control method is not high during assembly and operation, and with the frequent movements of the manipulator, operational errors may gradually occur

Since this control method does not manage and control the operation error during the operation process, the error will be continuously accumulated, which will eventually cause serious deviations or even misoperation of the manipulator during the operation process.

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