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Loading robot arm control multipoint mapping intelligent control method and system

A robot arm, intelligent control technology, applied in general control systems, control/regulation systems, manipulators, etc., can solve the problems of neural network retraining, impracticality, inconvenient maintenance of robots, etc., to avoid modeling and solving process, The effect of improving stability

Active Publication Date: 2017-10-17
CENT SOUTH UNIV
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Problems solved by technology

However, the method of obtaining a large number of samples by solving the kinematic equation is not practical, and the replacement of the motor at the joint of the robot arm will make the previously constructed neural network need to be retrained
Therefore, there is a great inconvenience in the maintenance of the robot

Method used

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  • Loading robot arm control multipoint mapping intelligent control method and system
  • Loading robot arm control multipoint mapping intelligent control method and system
  • Loading robot arm control multipoint mapping intelligent control method and system

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Embodiment Construction

[0120] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0121] The schematic diagram of the grabbing process of the carrier robot is as follows: figure 1 Shown; the robot arm grasping control flow chart is shown in Figure 4 shown.

[0122] An intelligent control method for manipulating multi-point mapping of a carrier robot arm, comprising the following steps:

[0123] Step 1: When the carrier robot is at a fixed grabbing point within the specified grabbing distance interval, use the remote server to control the arm of the carrier robot to perform multiple grabbing training, and obtain 50 groups of carrier robots that complete the grabbing tasks at different fixed grabbing points. The sample set of grab samples;

[0124] Each grasping sample includes the distance between the fixed grasping point where the carrier robot base is located and the bottom edge of the grasping table and the control value matrix...

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Abstract

The invention discloses a loading robot arm control multipoint mapping intelligent control method and system. The method comprises the first step of conducting grabbing training multiple times for a loading robot arm to obtain a grabbing sample set when a loading robot completes a grabbing task in different fixed grabbing points; the second step of conducting joint classification on the grabbing sample set according to the change amplitude a% of all arm joint control values to obtain various joint sample sets; the third step of using the joint sample sets obtained in the second step to construct a prediction model of loading robot arm joint control values; the fourth step of regarding the distance between a loading robot base and the edge of the bottom end of a grabbing table as an input value, and through a prediction model, obtaining control values of all joints respectively, and outputting the control values to complete the control over the grabbing task. According to the loading robot arm control multipoint mapping intelligent control method and system, by constructing the map between the distance of the robot base and the grabbing platform and a robot arm posture, complicated construction of a kinematical equation is avoided; accurate joint control values are obtained, and the joints are flexibly controlled.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to an intelligent control method and system for manipulating a multi-point mapping of a carrying robot arm. Background technique [0002] In recent years, mobile robots have been widely used in indoor transportation, such as hospitals using mobile robots to transport medical equipment, service robots in supermarkets, and robots in factory manufacturing environments. The robot arm is an important part of the robot's mechanical system, and it is also the main carrier for the robot to realize its service functions. [0003] The control problem of the mechanical arm has always been a difficult problem in the industry. In the early days, most of the arms used PID control, which could achieve tracking at a speed below the middle level. However, in the case of high precision and fast speed, the traditional PID control could not meet the control requirements. In this case, intelligent control...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/162B25J9/1653B25J9/1656G05B2219/40298
Inventor 李燕飞刘辉金楷荣
Owner CENT SOUTH UNIV
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