Control method of four-degree-of-freedom mechanical arm

Abstract

The invention belongs to the technical field of mechanical arm control, and relates to a control method of a four-degree-of-freedom mechanical arm. The control method is realized based on a control system, wherein the control system adopts a three-stage control system and is realized on the basis of a control architecture of an upper computer, a motion controller and a bottom controller. After theupper computer sends pose information and a motion mode command to the motion controller, the motion controller automatically completes path planning of the mechanical arm and kinematics resolving toobtain a planning result, and the planning result is sent to the bottom controller to control a servo motor to move. The command state, the motor state, the driver state, the position, the speed andother information can be fed back in real time, and the system has control universality, can be applied to mechanical arm configurations with different configurations, and has a speed look-ahead function, a fault-tolerant or protection mechanism function and a hardware protection function, so that the operation process of the mechanical arm is more stable, and the process is simple and safe. According to the control method, the integration degree is high, the development cost of users is greatly reduced, and the popularization and popularization of robot technology are achieved conveniently.

Description

technical field [0001] The invention relates to a control method of a four-degree-of-freedom mechanical arm, belonging to the field of mechanical arm control. Background technique [0002] With the wide application of service robots, there is a higher requirement for the weight of the mechanical arm, so the lightweight mechanical arm has been developed rapidly. At present, most of the existing control schemes use the host computer to calculate kinematics and dynamics, resulting in poor real-time performance of the manipulator control system, and the non-universality of the control scheme makes the development of the robot control system more difficult, making most of the manipulator research and development Working on repetitive wheels. Contents of the invention [0003] In order to solve the above-mentioned problems, the present invention provides a control method for a four-degree-of-freedom robotic arm, which makes the control scheme universal for most robotic arms and...

AI Technical Summary

Problems solved by technology

At present, most of the existing control schemes use the host computer to calculate kinematics and dynamics, resulting in poor real-time performance of the manipulator control system, and the non-universality of the control scheme makes the development of the robot control system more difficult, making most of the manipulator research and development Working on Repetitive Wheels

Images