Method and device for adjusting tail end attitude of mechanical arm

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...

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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 horizontal correction after the end of the manipulator reaches the designated position, and improve the control accuracy of the manipulator at the same time Guaranteed the fluency of the operation of the robotic arm

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