Manipulator servo control method, system and device based on screw theory

Abstract

The invention discloses a manipulator servo control method, system and device based on a screw theory. The manipulator servo control method comprises the steps that joint rotating angle data of a manipulator are detected and subjected to exponential product direct kinematics calculation, and thus an actual tail end position-attitude matrix of the manipulator is obtained; matrix operation is conducted according to the actual tail end position-attitude matrix and a given target position-attitude matrix, and thus a position error and an attitude error of the manipulator are obtained; the maximumvalue in the position error and the attitude error is obtained to serve as the maximum error value, and whether the maximum error value is less than a preset error threshold value or not is judged; ifnot, calculation is conducted to obtain the joint angle rotating amount required by deviation correcting; joint angle updating data of manipulator joints are obtained; and the manipulator joints arecontrolled to be subjected to position updating according to the joint angle updating data. By adopting the manipulator servo control method, the advantages of small calculated amount, good real-timeperformance and accurate tracking are achieved, and the control precision of the manipulator can be effectively improved.

Description

technical field [0001] The present invention relates to the technical field of robotic arm servo control, in particular to a method, system and device for robotic arm servo control based on the spiral theory. Background technique [0002] The servo control of the motor is to change the mechanical quantities such as the displacement, speed, acceleration and torque output by the motor by controlling the input quantities such as the voltage, current and frequency of the motor, so as to drive the mechanical device to operate according to the expected law to meet the production requirements. And the needs of various action automation in life; the mechanical arm of the service robot is generally a multi-helical joint series type, and the servo control of the motor generally requires high coordination, real-time and accuracy; the servo control of the motor includes position control , force control and force / position hybrid control, etc. The actual effects of these control methods a...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing servo control methods of manipulators rely on the solution of the inverse kinematics solution. The process is generally to solve the inverse kinematics equation according to the given end pose and structural parameters of the manipulator, and then deduce the required parameters of each joint of the manipulator. For the multi-degree-of-freedom manipulator, due to the multiple solutions of its kinematics inverse solution, after each calculation, it is necessary to select the best of multiple sets of inverse solutions according to certain principles, resulting in a large amount of calculation in one servo control cycle , resulting in slow response and sluggish movement of the robotic arm

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