Mechanical arm operation control system based on PyQt

Abstract

A mechanical arm operation control system based on PyQt mainly comprises a human-computer interaction interface module, an upper computer main control module, a simulation and control module, a trajectory optimizing module and a USB module. The control system is the mechanical arm control system established based on PyQt-friendly GUI programming framework, can complete basic operation of a mechanical arm and has the functions of simulation and online teaching, multi-parameter real-time displaying and the like, a user downloads upper computer software of the control system from the Windows operation system and installs the upper computer software, relevant parameters of movement of the mechanical arm are obtained in real time through the USB module and are sent to the trajectory optimizingmodule after being subjected to quantification treatment, the trajectory optimizing module optimizes the operation trajectory according to the positive and athwart kinematics formula and the Cartesiantrajectory planning algorithm, the simulation and control module completes the simulation function according to the optimized operation trajectory, and the human-computer interaction interface moduledisplays various control buttons and the parameters of the mechanical arm for the user. By means of the mechanical arm operation control system based on PyQt, the function of a mechanical arm controller is greatly extended, and the human-computer interaction performance of the controller is improved at the same time.

Description

technical field [0001] The invention relates to a control system for manipulator operation, in particular to a PyQt-based control system for manipulator operation, simulation and online teaching. Background technique [0002] The industrial robotic arm is a multi-degree-of-freedom motion device designed based on various technologies such as electrical electronics, mechanical structure, and software control. In the 1960s, the first industrial robotic arm came out in the United States. Since then, the industrial robotic arm has developed rapidly and occupied an irreplaceable position in the industrial field. Using automated industrial robotic arms to replace manual operations in operations such as handling, painting, welding, and assembly can not only reduce costs but also improve work efficiency. With the continuous development of sensing technology, artificial intelligence and computer technology, industrial robotic arms are moving towards other fields. [0003] Relying on...

AI Technical Summary

Problems solved by technology

An Android-based robot teaching software design and implementation proposed by Yang Jing et al. (Yang Jing. Android-based robot teaching software design and implementation [D]. Huazhong University of Science and Technology, 2015.), developed a new robot Teaching software, but did not consider robot simulation and trajectory planning, later function expansion and compatibility of multi-category manipulators; Chen Ken, Ren Shunan, Wang Guolei, Xie Ying, Liu Zhi, Yang Xiangdong, Cheng Jianhui, Yu Qiankun, Wu Dan, The industrial robot teaching system proposed by Song Libin, Fu Chenglong, Xu Jing, Liu Li, Yang Dongchao, etc. (Chen Ken, Ren Shunan, Wang Guolei, Xie Ying, Liu Zhi, Yang Xiangdong, Cheng Jianhui, Yu Qiankun, Wu Dan, Song Libin, Fu Chenglong, Xu Jing, Liu Li, Yang Dongchao. Industrial robot teaching system [P]. Beijing: CN104700705A, 2015-06-10.), proposed a manipulator teaching system with better operation, but still use the teaching box, poor compatibility with other robotic arm controllers, and inflexible control of the robotic arm

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