Mechanical arm control method and device, control device and storage medium

A control method and a technology of a robotic arm, applied in the field of automation, can solve problems such as poor flexibility, collision, self-collision of the robotic arm, etc., and achieve the effects of improving accuracy, improving accuracy, increasing speed and flexibility
CN110293552AActive Publication Date: 2019-10-01BEIJING ORION STAR TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIJING ORION STAR TECH CO LTD
Publication Date
2019-10-01

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Abstract

The invention provides a mechanical arm control method and device, a control device and a storage medium. The mechanical arm control method comprises the following steps of acquiring a global image ofa mechanical arm application scene and current angle values corresponding to joint axes of the mechanical arm, wherein the scene global image is used for representing the relative position of a mechanical arm and a target point; according to the global image of the mechanical arm application scene and the current angle values, determining each target angle value corresponding to each joint axis of the mechanical arm at the next moment by using a pre-trained neural network model; and controlling the mechanical arm to move according to the target angle values. According to the method, the action of the mechanical arm is predicted by utilizing the neural network model, the accuracy of the action prediction of the mechanical arm is improved, and the flexibility of the action of the mechanicalarm is improved.
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Description

technical field

[0001] The present invention relates to the technical field of automation, in particular to a control method, device, control equipment and storage medium of a mechanical arm. Background technique

[0002] As the most widely used automatic mechanical device in the field of automation technology, the robotic arm is widely used in industrial manufacturing, semiconductor manufacturing, military, medical treatment and other fields. The robotic arm can be positioned to a certain point in space to perform operations according to the received instructions.

[0003] At present, the movement of the robotic arm is mostly the starting point and the destination point of a given action. The position and distance of each movement are determined by the robotic arm itself, and the movement from the starting point to the destination point is finally completed. This control method is easy to cause self-collision and other collision of the robot arm, and the flexibility is poo...

Claims

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