Control method of cable-driven series joint type S-shaped mechanical arm

Abstract

The invention discloses a control method of a cable-driven series joint type S-shaped mechanical arm. The method comprises the steps of establishing an absolute coordinate system and a reference coordinate system of each joint; calculating absolute coordinates of a spatial point of each joint of the mechanical arm in the absolute coordinate system at spatial posture angles required by all the joints of the mechanical arm; calculating the distance between every two adjacent joint points; calculating the total length of each cable at each joint according to the distance between every two adjacent joint points; and controlling each cable to be pulled to the corresponding cable total length so as to control the mechanical arm to move to a spatial posture with a required angle. By means of the method, the overall spatial postures of the mechanical arm can be accurately and uniquely described to realize decoupling; changes of the lengths of all the cables driving all the joints can be calculated independently and correspondingly without solving a system of equations; the calculation number is small; and the efficiency is high, and the real-time performance is good.

Description

technical field [0001] The invention relates to a control method of a mechanical arm, in particular to a control method of a rope-driven serial joint type serpentine mechanical arm. Background technique [0002] The rope-driven serial jointed snake-like manipulator is a new bionic manipulator used in narrow space operations. The manipulator is controlled by pulling the joints through the rope. Since the driving mechanism is all arranged on the base, there is no drive on the manipulator. The organization becomes light and flexible. For the narrow closed space environment where it is difficult for ordinary robots to carry out efficient operations, the robotic arm can enter the closed space through narrow holes and cracks, etc., and then perform operations such as laser cutting, repairing, reconnaissance of the internal environment, and construction of internal 3D scenes. Access to the aircraft fuel tank for maintenance without the casing. [0003] Since the number of degrees...

AI Technical Summary

Problems solved by technology

[0004] Compared with the fully flexible continuous manipulator, the series articulated manipulator has higher control accuracy, and the load capacity is also greatly improved, but the control method of the fully flexible manipulator is based on multiple assumptions such as smooth curves of equal curvature. In this case, the series-jointed snake-like manipulator does not meet the conditions; and most of the kinematic models of rigid manipulators are constructed by the DH method, but for the snake-like manipulator with certain flexibility, the traditional DH method is not applicable.

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