A 7-degree-of-freedom humanoid robot arm and its control method and system

Abstract

The invention discloses a 7-degree-of-freedom anthropomorphic mechanical arm, as well as control method and system thereof. The system comprises the 7-degree-of-freedom anthropomorphic mechanical armand a control module, wherein the control module is in communication connection with the 7-degree-of-freedom anthropomorphic mechanical arm; and the control module is used for obtaining seven joint angles of the 7-degree-of-freedom anthropomorphic mechanical arm according to an initial point and a target point of the 7-degree-of-freedom anthropomorphic mechanical arm, then carrying out path planning to obtain a series of path points from the initial point to the target point, using a least square method for smoothing the multiple path points, carrying out interpolation computation between thepath points, carrying out trajectory generation, carrying out trajectory tracking on each joint motor, and controlling the 7-degree-of-freedom anthropomorphic mechanical arm to move in real time. The7-degree-of-freedom anthropomorphic mechanical arm provided by the invention has the redundant degree of freedom, has more solution space compared with a 6-degree-of-freedom mechanical arm, can obtaina path capable of flexibly avoiding obstacles, guarantees man-machine coordination operation, and has better movement flexibility, flexibility and adaptability.

Description

technical field [0001] The invention belongs to the field of mechanical arms, and more specifically relates to a 7-degree-of-freedom anthropomorphic mechanical arm and a control method and system thereof. Background technique [0002] As modern industrial application scenarios have higher and higher requirements for the working space limitation and flexibility of the manipulator, 6 degrees of freedom are the minimum degrees of freedom with the ability to complete spatial positioning (3 positions, 3 attitude angles). In more and more human-machine collaborative work occasions, the 6-DOF manipulator can no longer meet higher flexibility and flexibility requirements. In terms of kinematics, the 6-DOF manipulator may have a singular configuration and excessive joint displacement. There are three major problems: limitation and obstacles in the working environment, which greatly restrict the movement of the manipulator; in terms of dynamic characteristics, the distribution of join...

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a 7-degree-of-freedom humanoid manipulator and its control method and system, thereby solving the problem that the 7-degree-of-freedom manipulator that does not meet the PIEPER criterion cannot be solved by an analytical method. , The technical problem of being unable to ensure that the manipulator arm has good motion flexibility, flexibility and adaptability when man-machine collaborative operation is ensured

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