Robotic arm and robotic arm self-guided operation method

Abstract

A mechanical arm and an operation method, said mechanical arm comprising a base (10), a plurality of joint arms, a ranging device (30) and a control device; the plurality of joint arms comprises a first joint arm (11) and a second joint arm (12), the plurality of joint arms being connected to each other in an end-to-end manner and provided in a same vertical plane; the ranging device (30) is provided at the end of the second joint arm (12), and the control device is configured to acquire, when the ranging device (30) locates an operation target of an operation portion (40), a first distance between the ranging device (30) and the operation position of the operation target (50) and an included angle between the first joint arm (11) and the second joint arm (12), calculate coordinates of the operation target (50) with respect to the base (10), and calculate a rotation angle of each of the plurality of joint arms according to the coordinates, thereby controlling rotation of each joint arm. The invention converts the inverse solution operation of a three-dimensional space of the mechanical arm into the operation of a two-dimensional space, simplifying the calculation process, reducing the operation amount, and improving the system processing performance.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a manipulator and a self-guiding operation method of the manipulator. Background technique [0002] Whether it is in the industrial field or the service field, the use of robotic arms is becoming more and more popular. At present, most of the robotic arms are single-joint controlled or run along a fixed trajectory by teaching, which is cumbersome to operate and can only be used in specific environments. For robotic arms that can be guided and positioned, vision or gimbals are currently used for three-dimensional positioning calculations. The calculations for positioning and reverse solution are large and complex, and the overall space occupied by the robotic arm is also relatively large. Contents of the invention [0003] The invention provides a mechanical arm and a self-guiding operation method of the mechanical arm with reduced calculation amount. [0004] In order to achieve t...

AI Technical Summary

Problems solved by technology

At present, most of the robotic arms are single-joint controlled or run along a fixed trajectory by teaching, which is cumbersome to operate and can only be used in specific environments

For robotic arms that can be guided and positioned, vision or gimbals are mostly used for three-dimensional positioning calculations at present. The amount of calculations for positioning and reverse solution is large and complex, and the overall space occupied by the robotic arm is also relatively large.

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