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Mechanical arm control method

A control method and technology of robotic arms, which are applied in the directions of manipulators, program-controlled manipulators, and manufacturing tools, etc., can solve the problems of difficulty in setting penalty factors, falling into local optimal solutions, etc., so as to improve work efficiency, improve flexibility, and ensure posture and posture. The effect of precision

Pending Publication Date: 2019-04-16
CENT SOUTH UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The method of saving feasible solutions needs to provide an initial feasible solution, and it is easy to fall into a local optimal solution
The penalty function method transforms the constrained problem into an unconstrained problem, but it is difficult to set an appropriate penalty factor

Method used

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Embodiment Construction

[0029] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in a variety of different ways defined and covered by the claims.

[0030] Unless otherwise defined, all professional terms used in the following have the same meaning as commonly understood by those skilled in the art. The "first", "second" and similar words used in the specification and claims of the patent application of the present invention do not denote any order, quantity, or importance, but merely to facilitate the distinction between corresponding parts. Likewise, similar words such as "one" or "one" do not mean a quantity limit, but mean that there is at least one. Similar words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Two sides", "outer side", etc. are only used to indicate the relat...

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Abstract

The invention discloses a mechanical arm control method. The mechanical arm control method comprises the following steps that (1) a forward kinematics model of the mechanical arm is established as system input, and a controls parameter of an adaptive mutation differential evolution algorithm is given; (2) population initializing is randomly carried out in parameter space; (3) individuals are randomly selected from population to perform mutation operation to generate a mutation vector; (4) the mutation vector and a target vector are subjected to cross operation to generate a test vector; (5) the test vector is compared with the target vector, and a better individual is selected as a new target vector; and (6) whether a preset stopping criterion is met or not is judged, if so, the optimal individual is ended and output to be as a joint variable quantity matrix of the mechanical arm, and otherwise, the step 3 is repeated. According to the mechanical arm control method, the shortest strokesolution is obtained while the accuracy of the posture of the mechanical arm is ensured, the flexibility of joints is improved, and the working efficiency is improved.

Description

Technical field [0001] The invention relates to the field of mechanical arm kinematics, in particular to a mechanical arm control method Background technique [0002] The manipulator is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection and other fields. The redundant degrees of freedom of the manipulator can guarantee the flexibility, obstacle avoidance and operational performance of the operation, but it brings the versatility of inverse kinematics and the problem of selecting the optimal solution from an infinite set of inverse solutions. [0003] The inverse kinematics solution of the manipulator refers to the known position and posture of the end effector relative to the base coordinate system to find the joint angle sequence that meets the requirements of pose accuracy. The kinematic equation of the ro...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602Y02P90/02
Inventor 贺继林周烜亦范诗萌戴驹
Owner CENT SOUTH UNIV
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