A method, system and device for servo control of a mechanical arm based on screw theory

Abstract

The invention discloses a mechanical arm servo control method, system and device based on the spiral theory, wherein the method includes: detecting the joint rotation angle data of the mechanical arm, performing exponential product forward kinematics calculation on the joint rotation angle data, and obtaining the mechanical arm The actual end pose matrix of the actual end pose matrix; perform matrix operations according to the actual end pose matrix and the given target pose matrix to obtain the position error and attitude error of the manipulator; obtain the maximum value of the position error and attitude error as the maximum error value, and Determine whether the maximum error value is less than the preset error threshold; if not, perform calculations to obtain the joint angle rotation amount required to correct the deviation; obtain the joint angle update data of the manipulator joint; control the position update of the manipulator joint according to the joint angle update data . In the embodiment of the present invention, the implementation method of the present invention has the advantages of small amount of calculation, good real-time performance, and accurate tracking, and can effectively improve the control precision of the mechanical arm.

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...

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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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