Crane movement track recognition method

A technology of movement trajectory and recognition method, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the gap in the environmental noise of manipulators, and achieve the effect of ensuring rigor

Active Publication Date: 2017-06-30
江苏山河机电技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the geometric error of the manipulator, environmental noise, vibration interference and other reasons, there is still a large gap between the actual trajectory of the manipulator and the expected trajectory.

Method used

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  • Crane movement track recognition method

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Effect test

Embodiment 1

[0012] In the control of the manipulator, the joint rotation variable is the control variable, which determines the actual position and attitude of the end effector of the manipulator. In the process of solving the inverse kinematics of the manipulator, due to the deviation between the real kinematic parameters and the designed theoretical parameters, the joint rotation variables calculated by the inverse solution cannot make the end effector reach the ideal pose. Assuming that the real kinematic parameters are the design values, and the pose error is only caused by the rotation variable, the genetic algorithm is proposed to compensate the rotation variable to improve the positioning accuracy of the manipulator. The process of manipulator pose error compensation is divided into the following steps:

[0013] First, determine the kinematics model of the six-degree-of-freedom manipulator.

[0014] Collect multiple sets of data as samples. Randomly select multiple sets of poses ...

Embodiment 2

[0019] To establish a kinematic structure model, firstly analyze the kinematics of the mechanical arm of the crane, solve the homogeneous transformation matrix of the adjacent joints in the mechanical arm of the crane under different joint connection forms, and calculate the positive kinematics of the mechanical arm of the crane equation, and then use analytical method and numerical method to solve the inverse kinematics of the crane's mechanical arm, and combine the two to establish the kinematic structure model of the crane;

[0020] Plan the motion space trajectory, based on the motion structure model of the crane, record the parameters of the basic elements such as the space line and arc of the crane’s mechanical arm, plan the motion trajectory of the crane’s mechanical arm in Cartesian space, and After obtaining the motion trajectory of the task space, convert it to the joint space of the crane’s mechanical arm, and obtain the time series values ​​corresponding to the posi...

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Abstract

The invention discloses a crane movement track recognition method. The crane movement track recognition method comprises the steps of establishing a movement structure model, planning a movement space track, supplementing kinematics parameters and controlling variables. The crane movement track recognition method has the advantages that the concept that the structure model is established by analyzing a mechanical arm of a crane is creatively put forward, the movement space track is structured and supplemented on this basis, everything is taken into consideration, and complicated mathematical methods are applied to ensure preciseness of a process.

Description

technical field [0001] The invention relates to the field of motion track recognition, and relates to a crane motion track recognition method. Background technique [0002] With the increasing market demand for cranes and the emergence of various types of cranes, it is a very urgent task to explore the core common technology of the mechanical arm, explore the problems existing in the mechanical arm of the crane and provide effective solutions. As an important performance index of the manipulator, the motion trajectory is an important guarantee for the manipulator to complete the operation task. With the gradual complexity of the application environment of the mechanical arm of the crane, people put forward higher requirements for the motion trajectory of the mechanical arm. However, due to the geometric error of the manipulator, environmental noise, vibration interference and other reasons, there is still a large gap between the actual trajectory of the manipulator and the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1664
Inventor 潘小胜
Owner 江苏山河机电技术有限公司
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