Serial robot motion control method and computer storage medium

A technology of robot motion and control method, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc. It can solve the problems of cumbersome solutions and low control efficiency, and achieve the effects of improving real-time performance, reducing burden, and avoiding multiple solutions

Active Publication Date: 2021-10-29
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a motion control method for serial robots and a computer storage medium, which overcomes the problems of cumbersome solutions and low control efficiency in the current robot control methods, and can effectively reduce the complexity of calculation and control , reducing the burden on the controller

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  • Serial robot motion control method and computer storage medium
  • Serial robot motion control method and computer storage medium
  • Serial robot motion control method and computer storage medium

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Embodiment Construction

[0038] In this embodiment, the three-degree-of-freedom series robot arm is taken as an example, and the point-position 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) The three-dimensional global coordinate system of the series robot is established starting from the first joint point as the coordinate origin, the Z axis is perpendicular to the robot base upwards, the X axis and the Y axis are determined according to the right-hand rule, and the front view is formed by the Z axis and the Y axis floor plan;

[0041] (1.2) Determine its coordinates in the global coordinate system according to the position information of the target point (x o ,y o ,z o );

[0042] Such as figure 2 As shown, it is the initial pose graph and the global coordinate system of the established three-degree-of-freedo...

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Abstract

The invention discloses a motion control method of a serial robot and a computer storage medium. The control method is to control the robot to reach the target point position according to the position information of the end point and the joint point of the robot, including steps: (1) establishing a global coordinate system And determine the position information of the target point; (2) obtain the position information of the end point and the joint point; (3) calculate the required angle information of each joint point; (4) control the rotation of each joint motor to the target direction by PID mode; (5) ) Detect whether the distance between the end point and the target point reaches the allowable error range, if it reaches, stop the rotation, if not, return to step (2) for execution. The method overcomes the problems of cumbersome solution and low control efficiency in the current robot control method, can effectively reduce the complexity of calculation and control, and reduce the burden of the controller.

Description

technical field [0001] The invention relates to a motion control method of a serial robot and a computer storage medium, in particular to a motion control method of a serial robot based on joint position information perception and a computer storage medium. Background technique [0002] At present, robots are widely used in all aspects of human production and life. With the popularity of robots, the performance requirements of robots are also getting higher and higher. The improvement of performance is mainly reflected in flexibility and rapidity. Existing robot control methods are often based on the D-H kinematics model, establishing kinematics matrix equations, and then separating the joint variables to solve them. The solution process of separating variables quickly becomes extremely complicated with the increase of degrees of freedom, and the calculation amount is huge, which cannot overcome the multi-solution problem, which seriously hinders the real-time performance o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1633B25J9/1664
Inventor 丁胜利陈盛梁志伟高翔谭彩明
Owner NANJING UNIV OF POSTS & TELECOMM
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