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Method and device for controlling redundant mechanical arm

A control method and control device technology, applied in the field of robotics, can solve the problems of complex calculation and cumbersome steps of multi-objective solution methods, and achieve the effects of avoiding the problem of dimension explosion, improving reaction speed, and simplifying the amount of calculation

Active Publication Date: 2017-05-10
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, an embodiment of the present invention provides a control method and device for a redundant robotic arm to solve the technical problems of complex calculation and cumbersome steps in the multi-objective solution method in the prior art

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  • Method and device for controlling redundant mechanical arm
  • Method and device for controlling redundant mechanical arm
  • Method and device for controlling redundant mechanical arm

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Embodiment 1

[0022] Embodiment 1 of the present invention provides a method for controlling a redundant robot arm. The method can be executed by a control device of a redundant robot arm, wherein the device can be implemented by hardware and / or software, and generally can be integrated in a control module for controlling a robot. figure 1 It is a schematic flow chart of the control method of the redundant robotic arm provided in Embodiment 1 of the present invention, as shown in figure 1 As shown, the method includes:

[0023] S110. Obtain current point information and target point information where the redundant robotic arm is located.

[0024] In this embodiment, the current point information and target point information of the redundant robotic arm may be the current point information and target point information at the end of the redundant robotic arm, or the current point information and target point information of each joint of the redundant robotic arm , there is no limit here. C...

Embodiment 2

[0035] figure 2 It is a schematic flowchart of a method for controlling a redundant robotic arm provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments. Further, the acquiring the information of the current point where the redundant robotic arm is located and the target point information includes: acquiring the speed of the end of the redundant robotic arm at the target point; The joint angles, joint angular velocities and joint angular accelerations of the redundant manipulator are mapped to the redundancy space according to the velocity of the end of the redundant manipulator at the target current point.

[0036] Further, the determining the trajectory function corresponding to the movement trajectory of the redundant manipulator from the current point to the target point according to the current point information and the target point information includes: determining the redundant mechanical arm according to the...

Embodiment 3

[0180] Embodiment 3 of the present invention provides a control device for a redundant robotic arm. The device can be implemented by hardware and / or software, and is generally integrated in a control module for controlling the robot, and can realize the control of the redundant robotic arm by executing the control method of the redundant robotic arm. Figure 4 Shown is a structural block diagram of the control device of the redundant robotic arm provided in this embodiment, as Figure 4 As shown, the device includes:

[0181] An information acquisition unit 410, configured to acquire current point information and target point information where the redundant robotic arm is located;

[0182] A trajectory unit 420, connected to the information acquisition unit, configured to determine a trajectory function corresponding to the movement trajectory of the redundant mechanical arm from the current point to the target point according to the current point information and the target p...

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Abstract

The invention discloses a method and a device for controlling a redundant mechanical arm. The method includes the steps of obtaining current point information and target point information of the redundant mechanical arm; determining a trajectory function corresponding to movement trajectories of the redundant mechanical arm moving from the current points to the target points according to the current point information and the target point information; establishing an equation corresponding to the trajectory function by adopting redundancy space vectors as independent variables; and solving the equation corresponding to the trajectory function according to a target approach method and obtaining the position and the speed of each joint in the redundant mechanical arm corresponding to the movement trajectories. According to the technical scheme, on the premise that a global optimal solution meeting design objectives is obtained, a search space for a multi-objective optimization problem of the redundant mechanical arm can be reduced, dimension explosion problems in the multi-objective solving process can be avoided, calculation amount needed in the control process of the redundant mechanical arm can be simplified, and the reaction speed of the redundant mechanical arm can be increased.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method and device for a redundant mechanical arm. Background technique [0002] In recent years, with the improvement of artificial intelligence technology and mechanical control technology and the increase of the complexity of tasks performed by robots, redundant robotic arms (mechanical arms with more than 6 joints) have been more and more applied to robots to complete Various complex tasks. [0003] When the redundant manipulator performs a specific task in Cartesian space, there are infinite combinations in the joint space. In specific applications, a set of optimal solutions can generally be selected according to optimization indicators such as joint speed, joint torque, or obstacle distance to determine the redundant mechanical arm. The movement of the arm. When the robot performs more complex tasks, it is usually necessary to optimize multiple objectives of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 阳方平
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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