Operating method and device of mechanical arm

Abstract

The invention is suitable for the technical field of computers, and provides an operating method and device of a mechanical arm. The method comprises the steps of receiving an operating instruction which is sent by a user through an operating end connected in advance, and performing nonlinear processing and signal conversion on the operating instruction so as to obtain a speed signal; generating an expected terminal position and pose according to the speed signal and the current terminal position and pose of the mechanical arm, and judging whether the expected terminal position and pose are within a working range; if the expected terminal position and pose are within the working range, solving target angles of all joints of the mechanical arm corresponding to the expected terminal position and pose through an inverse kinematics model, and detecting whether all the target angles satisfy joint space limitation; if all the target angles satisfy the joint space limitation, solving the positions of all the joints in Cartesian space at the target angles through a forward kinematics model, and detecting whether the positions of all the joints satisfy Cartesian space limitation; and if the positions of all the joints satisfy the Cartesian space limitation, sending the expected terminal position and pose to the mechanical arm. The operating stability of the mechanical arm is effectively increased, and the operating safety of the mechanical arm is effectively increased.

Description

technical field [0001] The invention belongs to the technical field of computers, and in particular relates to a method and device for operating a mechanical arm. Background technique [0002] With the development of computer technology and automation technology, robotic arms play an increasingly important role in people's production and life, and the application of robotic arms has gradually shifted from the automotive industry, mold manufacturing and other related industries to agriculture, medical care and services. industry development. [0003] At present, people can operate the robotic arm through buttons, remote sensing handles, and force feedback handles. Since people's operation speed will affect the movement or grasping effect of the robotic arm, users who are new to the operation of the robotic arm need to spend a lot of time. It takes time to adapt to the operation of the robotic arm, and the compatibility of the safety and efficiency of the robotic arm operatio...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method and device for operating a mechanical arm, aiming to solve the problems of insufficient stability in the operation of the mechanical arm, inconvenient user operation and insufficient safety in the prior art

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