Positioning control method and system of flexible mechanical arm based on vision

Abstract

The invention discloses a positioning control method of a flexible mechanical arm based on vision. The method includes the following steps of obtaining information of a feature area on a robot mechanical arm, obtaining the positions and postures of a base, joint rotating centers and the tail end of a mechanical arm through coordinate system conversion, and controlling the movements of the flexiblemechanical arm. A positioning control device of the flexible mechanical arm based on vision comprises the robot base and the mechanical arm, and further comprises a first motor, a second motor and amicroprocessor, wherein the feature area is arranged on the mechanical arm. The feature area on the flexible arm is detected and positioned by means of the cameras, and therefore the positions of thejoint rotating centers in a camera coordinate system are obtained, and the reconstruction of the arm type of the flexible arm is realized; through the comparison with the positions of the tail end andall the joint rotating centers in theory, the movement bias of the mechanical arm is corrected, the movement precision of the flexible mechanical arm is improved, and the positioning control method and device are widely applied to the mechanical arm control field.

Description

technical field [0001] The invention relates to the field of manipulator control, in particular to a vision-based positioning control method and system for a flexible manipulator. Background technique [0002] Since the 1980s, the working environment for robots has become more complex and uncertain. Special robots working in some special environments (aerospace, military reconnaissance, disaster rescue, medical surgery, etc.) have gradually become a research hotspot. Flexible robots have emerged in this scenario with their higher mobility flexibility, environmental adaptability and ability to avoid obstacles, and have become a hot research topic for researchers. [0003] Because the flexible manipulator is usually driven by a rope, the length of the rope will change after the rope is stressed; and the flexible manipulator is connected by a flexible material, which will lead to insufficient rigidity of the flexible manipulator; the above usually causes problems such as poor ...

AI Technical Summary

Problems solved by technology

However, usually because the dynamic model built is ideal and simplified, there is still a large deviation from the dynamic characteristics of the actual flexible manipulator, which cannot solve the problem of poor motion accuracy of the flexible manipulator.

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