A Cartesian Spatial Motion Prediction Method Applied to Robotic Arm

Abstract

The invention discloses a Cartesian space motion prediction method applied to a mechanical arm. By performing fast prediction calculations before the mechanical arm moves, the key points and limit positions that need to be decelerated are deduced according to the motion track of the Cartesian space, thereby Add a safe deceleration distance, plan the speed control strategy of the robotic arm in advance, and let the robotic arm decelerate and stop calmly according to the set deceleration time before reaching the limit position. In this way, problems in the prior art, such as hardware impact and track deviation caused by the sudden deceleration of the limit position of the mechanical arm in the moving state, are solved.

Description

technical field [0001] The invention relates to the technical field of spatial motion prediction of a mechanical arm, in particular to a Cartesian spatial motion prediction method applied to a mechanical arm. Background technique [0002] Limit positions such as singular points and motion boundaries that appear randomly are some unavoidable states when the manipulator moves. At these special positions, the manipulator will experience abnormal motion and must be decelerated to stop urgently. The solution of the existing technical solution is as follows: When the robot arm encounters the limit position, the control system will control the emergency deceleration of the robot arm. The robot arm can only control the motors of each joint to decelerate to 0 as soon as possible in the joint space, so as to realize the overall deceleration and stop of the robot arm. The existing technologies mainly include the following Two disadvantages: 1. Sudden deceleration will cause a relativel...

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Problems solved by technology

[0002] Limit positions such as singular points and motion boundaries that appear randomly are some unavoidable states when the manipulator moves. At these special positions, the manipulator will experience abnormal motion and must be decelerated to stop urgently. The solution of the existing technical solution is as follows: When the robot arm encounters the limit position, the control system will control the emergency deceleration of the robot arm. The robot arm can only control the motors of each joint to decelerate to 0 as soon as possible in the joint space, so as to realize the overall deceleration and stop of the robot arm. The existing technologies mainly include the following Two disadvantages: 1. Sudden deceleration will cause a relatively large impact on the hardware such as the motor of the manipulator and the reducer, which will affect the life of the hardware; 2. During the deceleration process, the terminal of the manipulator will deviate from the movement track planned in the Cartesian space, affecting the mechanical Arm Trajectory Accuracy

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