Control method for engineering machine mechanical arm
A control method and engineering machinery technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of complex control process, poor practicability, and long time consumption, and achieve simple control process, good practicability, and high efficiency Effect
Inactive Publication Date: 2017-12-19
毛慧
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Problems solved by technology
Moreover, in various construction machinery, the mechanical arm is often composed of multiple arm sections. Therefore, for the control of the mechanical arm, the traditional control method is to set the program for the computer by the operator, and the computer controls each arm section of the mechanical arm individually. Step-by-step control, that is, after one arm section is adjusted, the next arm section is adjusted until the entire robot arm moves from the initial attitude to the target attitude position. This control method is not only time-consuming, but also slow and inefficient. , and the control process is more complicated, and the practicability is not strong
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[0019] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:
[0020] Such as figure 1 As shown, a control method for a mechanical arm of a construction machinery includes the following steps:
[0021] Step S1, determine the initial coordinate orientation of the manipulator installed at the end of the mechanical arm, and the initial coordinate orientation value should be able to be obtained anytime and anywhere;
[0022] Step S2. Determine the coordinate orientation of the manipulator installed at the end of the mechanical arm after moving to the target position. The coordinate orientation after the target position is generally designed as a fixed value. In actual control, the coordinate orientation value is directly written into the computer. When the manipulator When the target position of the target changes, the corresponding value in the computer also needs to be modified synchronously;
[0023] S3. Input ...
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The invention discloses a method for controlling a mechanical arm of a construction machinery, comprising the following steps: determining the initial coordinate orientation of a manipulator installed at the end of the mechanical arm; determining the coordinate orientation of the manipulator installed at the end of the mechanical arm after it moves to a target position; The data information of the two coordinate orientations is input into the computer, and the displacement information of each arm section in the manipulator is calculated by the computer; the above-mentioned displacement information of each arm section is sent to the control system of each arm section. The beneficial effect is that the control method of the mechanical arm of the construction machinery adopts the method of simultaneously controlling the synchronous actions of all the arm segments in the mechanical arm to adjust the mechanical arm, which greatly shortens the adjustment and control time, significantly adjusts the control speed at the same time, and has high efficiency and good practicability , and the whole control process is completely calculated and analyzed by the computer and controlled by the control system of each boom section. The control process is simple, fast and the response speed is fast.
Description
technical field [0001] The invention relates to the field of engineering machinery, in particular to a method for controlling a mechanical arm of an engineering machinery. Background technique [0002] With the development of technology, robotic arms are increasingly used in construction machinery. Moreover, in various construction machinery, the mechanical arm is often composed of multiple arm sections. Therefore, for the control of the mechanical arm, the traditional control method is to set the program for the computer by the operator, and the computer controls each arm section of the mechanical arm individually. Step-by-step control, that is, after one arm section is adjusted, the next arm section is adjusted until the entire robot arm moves from the initial attitude to the target attitude position. This control method is not only time-consuming, but also slow and inefficient. , and the control process is more complex and less practical. In view of the deficiencies in ...
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Login to View More IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1612B25J9/1633B25J13/00
Inventor 毛慧
Owner 毛慧