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A control method for a super-redundant manipulator

A control method and technology of manipulators, which are applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as not being able to compensate for the length of the manipulator drive rope

Active Publication Date: 2021-01-19
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0016] The purpose of the present invention is to solve the problem in the prior art that the length of the drive rope of the mechanical arm cannot be well compensated, and propose a control method for a super-redundant mechanical arm

Method used

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  • A control method for a super-redundant manipulator
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  • A control method for a super-redundant manipulator

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Embodiment 1

[0045] This embodiment has mainly carried out the following improvements:

[0046] 1. Modeling the ultra-redundant flexible manipulator, finding the inverse solution, converting the joint angle into the length of the wire in the driving space, greatly reducing the kinematic parameters that need to be identified, greatly reducing the difficulty of calculation, and greatly reducing the parameters;

[0047] 2. Carry out parameter modeling based on a large amount of measurement data. It is not necessary to obtain the relationship between parameters, and it is not necessary to obtain the change law between input and output. It can directly obtain output according to input and directly compensate the mechanical arm;

[0048] 3. Modeling is based on data. When the parameters change, the modeling method does not change. It only needs to bring the measured real-time data into the model. The model can be used for different data, and the model has strong portability;

[0049] 4. When ide...

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Abstract

The invention provides a control method of a super-redundant mechanical arm. The control method comprises the following steps that S1, according to the kinematics analysis of the mechanical arm, the relation between the modularized joint freedom degree variable and the corresponding driving rope length is obtained; S2, joint position parameters of the mechanical arm are measured so as to obtain the actual driving rope length; and S3, the parameters of the flexible mechanical arm are identified, and the driving rope length of the mechanical arm is compensated so as to accurately control the mechanical arm. According to the control method, a complex parameter compensation is changed into a simple driving rope length compensation, so that the parameters of the flexible mechanical arm are identified, and then the accurate control on the mechanical arm is realized.

Description

technical field [0001] The invention relates to a control method of a super-redundant mechanical arm. Background technique [0002] In areas such as emergency rescue and disaster relief, troubleshooting of radiation equipment, sampling of toxic materials, and monitoring of pipeline leaks, the operating space is narrow and facing great dangers, and it is not suitable for humans or large equipment to enter the site to carry out work. At the same time, because the electromechanical components of traditional articulated robots are installed at the joints of the manipulator rods, and the mass is large, the overall size and load ratio are difficult to meet the requirements of narrow space operations. become an important choice to solve these complex problems. However, the robotic arm has many links and a relatively complex structure, and it becomes a difficult problem to identify its kinematic parameters, which leads to the problem of precise control. [0003] figure 1 It is a ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 梁斌程银柱刘厚德朱晓俊王学谦高学海孟得山
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV