Method of controlling tail end of mechanical arm to execute space curve motion
A space curve and end-execution technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as the inability to determine the expression function of the space arc curve to solve the problem
Inactive Publication Date: 2019-01-04
珠海心核科技有限公司
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Problems solved by technology
The above scheme is not suitable for the end of the manipulator to perform space curve movements, because it is impossible to determine the expression function of the space arc curve and to solve the coordinates of any point on the space arc.
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[0026] see below figure 1 The method for controlling the end of the manipulator to perform space curve motion according to the present invention will be described in detail.
[0027] In this embodiment of the present application, the end of the robot arm performs circular motion as an example, that is, the operation object of the robot arm is a circle, for example, the robot arm performs tire painting work. Such as figure 1 shown, including the following steps:
[0028] S100: Determine a position expression of the operation object relative to the mechanical arm.
[0029] Take the end of the manipulator as the origin of the coordinates, and obtain the coordinates of at least three positions on the operation object that represent its outline, that is, obtain the coordinates of the three positions to determine a circular surface, so that the control end of the manipulator can obtain the relative position of the operation object The position and size of the end of the robotic a...
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The invention provides a method of controlling the tail end of a mechanical arm to execute space curve motion. The method comprise the following steps that A, a trajectory expression of the to-be-executed space curve motion of the mechanical arm is determined; B, based on the expression, the trajectory of the to-be-executed space curve motion is projected into a horizontal plane and a perpendicular plane correspondingly; C, arc-shaped track restoring is carried out in the horizontal plane and the perpendicular plane correspondingly, and a control instruction is outputted according to a restoring result; and D, the control instruction is executed by the mechanical arm to complete the curve motion. From the above steps, based on the expression function of the space arc curve, namely the trajectory expression of the to-be-executed space curve motion of the mechanical arm, planning and controlling the motion trail of the tail end of the mechanical arm can be executed.
Description
technical field [0001] The invention relates to the technical field of automatic control, in particular to a method for controlling the end of a mechanical arm to perform a space curve movement. Background technique [0002] With the acceleration of industrial upgrading and technological progress of enterprises, the robotic arm has become an automated mechanical device that has been widely used in the field of robotics. This type of robotic arm has multiple degrees of freedom and allows movement in three-dimensional space. By receiving control instructions to Complete various assignments. [0003] The operations of industrial robots include spraying, cutting, etc., which involve the circular motion of the end of the mechanical arm in space. In principle, any curve in space can be approximated by a segmented space arc. However, to do the approximation and fitting calculation of arc points in the computer, the expression function of the space arc curve must first be determine...
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IPC IPC(8): B25J19/00B25J9/16
CPCB25J9/1602B25J19/007
Inventor 王相伟
Owner 珠海心核科技有限公司