Closed-loop control system and method of mechanical arm device

Abstract

The invention discloses a closed-loop control system and a method for a mechanical arm device. According to the closed-loop control system of the mechanical arm device, position information of a mechanical arm load end (or position information of a positioning source on the load end) is utilized as feedback, so that closed-loop automatic control is realized, the control by all joints of the mechanical arm can cooperate with each other, the dependence on single joint control is reduced, and the problems of load end control precision and stability caused by changes of the length of connecting rods of the mechanical arm are solved. According to the technical scheme, a motion track of the load end of the mechanical arm is preset by utilizing the same-type positioning source which is not fixedon the mechanical arm device, a controller automatically records position coordinates of all points of the track, and sets the position coordinates as system expected positions one by one, and the load end of the mechanical arm device is made to move according to the preset track through the closed-loop control method. Further, a plurality of sound wave emitters are deployed on the positioning source, the position and the posture of the positioning source are determined according to the positions of the sound wave emitters, so that the position and the posture of the load end of the mechanicalarm device are determined.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a closed-loop control system and method of a mechanical arm device. Background technique [0002] Robotic arm devices are widely used in industrial automation, unmanned operations, demonstration toys and other fields. The mechanical arm device is usually composed of a base, several sets of connecting rods, a transmission gear set, a servo motor, an end load device and a controller, and its functional structure is similar to that of a human arm. The action of the mechanical arm device is usually represented by the movement of the end load device according to the designed path and designed posture. The action of the mechanical arm device needs to be realized by using a certain control method through the control system of the mechanical arm. The control system is usually composed of a controller, a servo motor, and a transmission gear set. The basic process is that the ...

AI Technical Summary

Problems solved by technology

This closed-loop feedback control method, which is formed by measuring the rotation angle of each group of manipulator joints as the feedback amount, is the main control method of the current manipulator device control system. A large error is formed after the end. As the number of mechanical joint arm groups increases, the error accumulated at the end will increase geometrically.

Images