Seven-freedom-degree mechanical arm control method and system based on analytical solution

Abstract

The invention discloses a seven-freedom-degree mechanical arm control method and system based on analytical solution. The system comprises a seven-freedom-degree mechanical arm and a control module; the seven-freedom-degree mechanical arm is in communication connection with the control module; axes of three adjacent joint motors in the seven-freedom-degree mechanical arm are crossed on the point,axes of two adjacent motor joints are perpendicular, the control module is used for carrying out inverse kinematics solution on the seven-freedom-degree mechanical arm based on the analytical solution, the joint angle of each joint motor in the seven-freedom-degree mechanical arm is obtained, on the basis of the joint angle, path planning is carried out, multiple path points from the starting point of the seven-freedom-degree mechanical arm to the target point are obtained, interpolation calculation is carried among the multiple path points, the motion track of the seven-freedom-degree mechanical arm is obtained, each joint motor is subjected to trajectory tracking, and motion of the seven-freedom-degree mechanical arm is controlled in real time. The solution speed is high, and the smoothdegree of path planning by the multi-freedom-degree mechanical arm in the complex environment can be improved.

Description

technical field [0001] The invention belongs to the field of manipulators, and more specifically relates to a method and system for controlling a 7-degree-of-freedom manipulator based on an analytical solution. 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 o...

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Problems solved by technology

[0006] Aiming at the above defects or improvement needs of the prior art, the present invention provides a 7-DOF manipulator control method and system based on an analytical solution, thereby solving the problems in the prior art that the path planning result is not smooth enough and the motion process is not smooth enough question

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