Serial robot motion control method and computer storage medium
A technology of robot motion and control method, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as low control efficiency and cumbersome solutions, and achieve the effect of improving real-time performance, reducing complexity, and avoiding multi-solution problems.
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[0038] In this embodiment, a three-degree-of-freedom tandem manipulator is taken as an example. The point movement control of the robot is realized through the perception of joint position information. The specific implementation steps of this method are as follows: figure 1 Shown.
[0039] (1) Establish a global coordinate system:
[0040] (1.1) Start to establish the three-dimensional global coordinate system of the series robot with the first joint point as the coordinate origin. The Z axis is perpendicular to the robot base and upwards. The X and Y axes are determined according to the right-hand rule. The front view is formed by the Z and Y axes. Floor plan
[0041] (1.2) Determine the coordinates of the target point in the global coordinate system (x o , Y o ,z o );
[0042] Such as figure 2 As shown, the initial pose graph and global coordinate system of the three-degree-of-freedom tandem manipulator are established. The origin of the coordinate system is the joint point of joi...
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