Self-moving obstacle-avoiding mechanical arm

Abstract

The invention discloses a self-moving obstacle-avoiding mechanical arm. The mechanical arm includes an upper computer, a bus conversion module, and a seven-free-degree mechanical arm body; the upper computer uses a processor to complete mechanical arm cartesian space closed-loop control and calculation, the bus conversion module achieves bus data exchange, a joint controller is electrically connected with the upper computer so as to receive a command transmitted by the upper computer, rotation of a motor is controlled, and information collected by a sensor is read and transmitted to a storagemodule in the upper computer. According to the technical scheme, the null space motion of a redundant mechanical arm is effectively made use of, obstacle avoidance is achieved, meanwhile trajectory tracking of an end effector is ensured, steady-state errors of an end effector are lower than one fifth of dynamic errors, and the operation of the end effector is not affected.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and more specifically, the invention relates to a self-moving robot arm for avoiding obstacles. Background technique [0002] With the development of the economy, the robot industry is developing rapidly, especially the development of simulation robots. The safety issues involved in human-computer interaction when the manipulators work in complex environments have attracted more and more attention. In the event of sudden accidents such as collisions, the existing technology uses an emergency stop method to immediately stop all movements of the robotic arm, but in a complex interactive environment, this processing method sometimes increases the damage to the robotic arm and personnel; Therefore, a more suitable way is needed to achieve safe obstacle avoidance, so as to adapt to changes in the external environment. Contents of the invention [0003] The technical problem to be solved by the pre...

AI Technical Summary

Problems solved by technology

[0002] With the development of the economy, the robot industry is developing rapidly, especially the development of simulation robots. The safety issues involved in human-computer interaction when the manipulators work in complex environments have attracted more and more attention. In the event of sudden accidents such as collisions, the existing technology uses an emergency stop method to immediately stop all movements of the robotic arm, but in a complex interactive environment, this processing method sometimes increases the damage to the robotic arm and personnel; Therefore, there is a need for a more suitable way to achieve safe obstacle avoidance, so as to adapt to changes in the external environment

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