Method and device for adjusting tail end attitude of mechanical arm

An adjustment method and technology of robotic arms, which are applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of improving control accuracy, reducing human involvement, and ensuring fluency

Active Publication Date: 2018-12-04
BEIJING ORION STAR TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to solve the problems existing in the prior art, the inventor conceived a method and device for adjusting the attitude of the end of the manipulator to solve the problem of automatic horizont

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  • Method and device for adjusting tail end attitude of mechanical arm
  • Method and device for adjusting tail end attitude of mechanical arm
  • Method and device for adjusting tail end attitude of mechanical arm

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[0045] The following describes the details of the application through embodiments in conjunction with the accompanying drawings, which is more conducive to understanding the content of the application, but the application can be implemented in a variety of ways different from the specific embodiments, and those skilled in the art may not violate this In the case of the connotation of the application, similar promotion is carried out in combination with the prior art, so this application is not limited by the specific implementations disclosed below.

[0046] In this application, "first", "second", "third", "fourth", etc. are only used to distinguish each other, rather than indicating the degree of importance and order, and the prerequisites for mutual existence.

[0047] In this application, a method, device, smart device, storage medium, robot arm and robot arm controller for adjusting the posture of the end of a robot arm are provided, which are described in detail in the followin...

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Abstract

The invention discloses a method and device for adjusting tail end attitude of a mechanical arm. The method and device for adjusting the tail end attitude of the mechanical arm is applied to an intelligent robot. The intelligent robot includes a base and the mechanical arm. The method includes the steps that under a preset condition, a current attitude value of the tail end of the mechanical arm under the base coordinate system O is acquired; according to the current attitude value of the tail end of the mechanical arm under the base coordinate system O, a first rotation matrix A<1> between the current coordinate system O<g1> of the tail end of the mechanical arm and the base coordinate system O is determined; according to the first rotation matrix A<1> and the parallel relationship between a Z-axis of the corrected coordinate system O<g2> of the tail end of the mechanical arm and a Z-axis of the base coordinate system O, a second rotation matrix A<2> between the correctedcoordinate system O<g2> of the tail end of the mechanical arm and the base coordinate system O is determined; a target attitude value of the tail end of the mechanical arm is determined according to the second rotation matrix A<2>; and a control command is generated based on the current attitude value and the target attitude value of the tail end of the mechanical arm, and the control command controls the tail end of the mechanical arm to be adjusted from the current attitude to the target attitude.

Description

technical field [0001] The present application relates to the field of intelligent control technology, in particular to a method and device for adjusting the attitude of the end of a mechanical arm. Background technique [0002] With the development of science and technology, intelligent robots have also been widely developed. An intelligent robot for operations such as picking and placing objects in space includes a base, a robotic arm, and an end tool. The robotic arm has functions similar to the human arm, is located between the base and the end tool, and is composed of dynamic joints and connecting rods. The end of the robotic arm is usually equipped with end tools, such as dexterous hands, grippers, etc., to directly perform the actions required by the task. In the field of manipulator control technology, people often pay attention to the adjustment of the position of the end of the manipulator. The adjustment of the attitude of the end of the manipulator is rarely i...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/10
CPCB25J9/10B25J9/16
Inventor 丁萌
Owner BEIJING ORION STAR TECH CO LTD
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