Cooperative motion control method for dual mechanical arms
A technology of coordinated motion and dual robotic arms, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that multiple manipulators cannot work together, and achieve the effect of improving data processing speed and work efficiency, and reducing clock delay.
Inactive Publication Date: 2019-08-06
HOHAI UNIV CHANGZHOU
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[0003] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide a method for the coordinated motion control of dual robotic arms to solve the problem in the prior art that a single robotic arm can only complete simple motions, while multiple robotic arms cannot work cooperatively
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[0061] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0062] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 Shown, a kind of cooperative motion control method of double mechanical arm, this method comprises:
[0063]S10. Initialize the mechanical arm: the FPGA is powered on and reset; the FPGA concurrently controls each motor on the master-slave mechanical arm; outputs a specific square wave through the motor, so that the rotation angle of each motor reaches the median value; acc...
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The invention discloses a cooperative motion control method for dual mechanical arms, and belongs to the field of application of robot equipment. The method comprises the following steps that the mechanical arms are initialized; the coordinate data of the tail ends of the mechanical arms are input through an upper computer; an FPGA (field programmable gate array) receives and analyzes the coordinate data; the FPGA plans the motion paths of the mechanical arms according to the analyzed coordinate data; the FPGA obtains a motor corner through inverse kinematics analysis according to the motion paths; and the FPGA drives the main and slave mechanical arms to move synchronously according to the motor corner. The cooperative motion control method realizes the function of the cooperative motionof the double mechanical arms, and improves the data processing speed and the work efficiency.
Description
technical field [0001] The invention belongs to the application field of robot equipment, and specifically relates to a method for controlling the coordinated motion of a double robot arm. Background technique [0002] At present, most of the domestic industrial production is operated by a single robot arm. A single robot arm can replace people's work to a certain extent, but it seems at a loss when faced with heavy objects with complex geometric structures or similar parts assembly and grinding. In recent years, there have been studies on multi-manipulator control methods in China. At present, there are a small amount of research data based on neural networks and multi-agents, each of which has certain theoretical basis and simulation results. The problem of poor or even uncoordinated coordination between them needs further research and demonstration before practical application. Contents of the invention [0003] Aiming at the deficiencies of the prior art, the purpose ...
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IPC IPC(8): B25J9/16
CPCB25J9/1682
Inventor 吴彦泽单鸣雷姚澄汤一彬高远韩庆邦
Owner HOHAI UNIV CHANGZHOU