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

A control method and technology of robotic arms, which are applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor real-time performance of manipulator control systems and increased difficulty in developing robot control systems, so as to achieve easier popularization and promotion, and various control modes. Realization and control with good real-time effect

Inactive Publication Date: 2019-12-10
大连大华中天科技有限公司
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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

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

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Embodiment Construction

[0023] A control method for a four-degree-of-freedom mechanical arm, the specific implementation steps are as follows:

[0024] In the first step, the host computer sends the operation mode, pose information and motion commands to the motion controller according to a certain data format by calling the host computer interface program.

[0025] like figure 1 As shown, the host computer interface program is mainly responsible for the communication between the PC-motion controller, using the ModbusTCP / IP communication protocol to carry out data transmission between the two, using c++ to complete the realization of the interface program, the interface program can be used in Windows and Application under Linux system. When the host computer uses the mechanical arm, it only needs to call the c++ interface program to send the host computer control command to the motion controller. The communication between the motion controller and the upper computer is based on the principle that ...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 杜宇邓蕊
Owner 大连大华中天科技有限公司
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