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Mechanical arm movement control method and system

A motion control system and motion control technology, applied in the field of manipulators, can solve the problems of low efficiency of motion control of manipulators, and achieve the effect of small amount of calculation and high control efficiency.

Active Publication Date: 2017-11-03
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Based on this, it is necessary to provide a method and system for controlling the motion of the manipulator to solve the problem of low efficiency of the motion control of the manipulator

Method used

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  • Mechanical arm movement control method and system
  • Mechanical arm movement control method and system
  • Mechanical arm movement control method and system

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Embodiment Construction

[0021] The technical solution of the present invention will be described below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, the present invention provides a method for controlling the movement of a mechanical arm, which may include the following steps:

[0023] S1, obtaining the real-time position of the obstacle between the starting point and the end point of the mechanical arm movement;

[0024] The real-time position in this embodiment may be a dynamic position, that is, the real-time position of each obstacle may change with time. Between the starting point and the end point means that the robot arm starts from the starting point P s Move to the end point P e possible locations on the path of motion. In an embodiment, the real-time position of the obstacle may be acquired by a sensor, and the sensor may acquire the real-time position of each obstacle at a certain frequency. In a specific embodiment, the moving speed of the obstacl...

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PUM

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Abstract

The invention relates to a mechanical arm movement control method and system. The method comprises the following steps of obtaining the real-time location of barriers between the start point and the terminal point of movement of a mechanical arm; obtaining the shortest distances between the barriers and preselected control points on mechanical arm joints according to the real-time location, and working out the sum of the shortest distances; working out first virtual force of the control points and second virtual force of a mechanical arm terminal in real time according to the sum of the shortest distances and the movement speed of the mechanical arm joints, and determining real-time control torque of the mechanical arm according to the first virtual force and the second virtual force; and performing real-time path control over the mechanical arm according to the real-time control torque. The mechanical arm movement control method and system are small in amount of calculation and high in control efficiency.

Description

technical field [0001] The present invention relates to the technical field of mechanical arms, in particular to a method and system for controlling the motion of a mechanical arm. Background technique [0002] In the actual working scene of the robotic arm, there may be many obstacles. In the motion planning problem, it is necessary to plan a collision-avoiding path between the given starting point and the end point, so as to ensure the safety of the operation. [0003] The motion planning of the robotic arm can be divided into two modes: offline and online. The offline method can pre-plan the running path before the movement of the robot arm, but this requires prior knowledge of the geometry and position of the obstacles in the workspace; while the online method system acquires real-time environmental data through the sensor while synchronously monitoring the robot arm. Exercise planning. Generally speaking, the offline mode is more efficient, but for some working envir...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 罗汉杰
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD