Design method of lower computer of redundancy mechanical arm of flying operation robot

Abstract

The invention discloses a design method of a lower computer of a redundancy mechanical arm of a flying operation robot. The design method includes the specific steps that (1), the flying operation robot is built as the lower computer; (2), a movement control problem of the redundancy mechanical arm is converted into a controlled time-varying convex quadratic programming problem; (3), solving of aquadric form optimal solution is converted into solving of a primal-dual neural network based on a linear variational inequality; (4), the primal-dual neural network is discreted into a redundancy mechanical arm lower controller and written in an onboard microcontroller; (5), according to the designed controller, when a control instruction and track parameters are received, the lower computer solves expected angles of all joints of the mechanical arm and converts the expected angles into PWM voltage signals, a steering engine is driven to steer, and a control task is completed. The problems that a large amount of data needs to be transmitted after calculation on the upper computer side is completed, a large amount of time is consumed, and transmission errors are generated can be effectively solved, the real-time control effect and the flexibility of the redundancy mechanical arm are improved, and practical significance is achieved.

Description

technical field [0001] The invention relates to the design field of flying operation robots, in particular to a design method for a lower controller of a redundant mechanical arm of a flying operation robot. Background technique [0002] With the development of the field of intelligent robots, flying robots have attracted more and more attention, especially the multi-rotor flying robots equipped with redundant mechanical arms have attracted much attention in the field of intelligent robots. The flying robot is mainly composed of a multi-rotor aircraft and a redundant mechanical arm. Due to the redundant mechanical arm, the flying robot has the ability to perform complex tasks, avoid joint limits, and avoid singular points, and has certain fault-tolerant characteristics. It is suitable for solving various high-altitude operations and can replace "Spiderman" to complete various Dangerous missions with high research value. [0003] The motion control of the redundant manipula...

AI Technical Summary

Problems solved by technology

The method can solve the real-time inverse kinematics according to the simple and small amount of trajectory parameters of the host computer, effectively solve the problems that need to transmit a large amount of data after calculation at the host computer, consume a lot of time, and may cause transmission errors, etc., and improve the performance of the mechanical arm itself. Real-time control effect and flexibility, with practical significance

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