Mixed control method, device and system of mechanical arm

A control method and control system technology, applied in the direction of manipulators, program-controlled manipulators, claw arms, etc., can solve problems such as unstable operation of manipulators

Pending Publication Date: 2020-05-05
JIANGNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The invention provides a hybrid control method for a robotic arm, a hybrid control device for a robotic arm, and a hybrid control system for a

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  • Mixed control method, device and system of mechanical arm
  • Mixed control method, device and system of mechanical arm
  • Mixed control method, device and system of mechanical arm

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Embodiment Construction

[0038] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments of some, but 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 shall fall within the protection scope of the present invention.

[0040] It should be noted that the terms "f...

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Abstract

The invention relates to the technical field of mixed control, and particularly discloses a mixed control method of a mechanical arm. The mixed control method comprises the steps that the contact force between the executing end of the mechanical arm and a workpiece to be machined is acquired; whether the contact force is larger than a switching threshold value or not is judged; if the contact force is larger than the switching threshold value, a first control signal is output to a force controller, wherein the force controller is used for achieving force control over the executing end of the mechanical arm according to the first control signal; and if the contact is equal to the switching threshold value, a second control signal is output to a position controller, wherein the position controller is used for keeping current position control over the executing end of the mechanical arm according to the second control signal. The invention further discloses a mixed control device and system of the mechanical arm. According to the mixed control method of the mechanical arm, the problem of unstable operation in the prior art can be effectively solved, and the advantages of being preventing trembling of the mechanical arm and prolonging the service life of the mechanical arm are achieved.

Description

technical field [0001] The present invention relates to the technical field of hybrid control, in particular to a method for controlling hybridization of a manipulator, a device for controlling hybridization of a robotic arm, and a system for controlling hybridization of a manipulator including the device for controlling hybridization of a manipulator. Background technique [0002] The robotic arm is an automated device that replaces manual work in industrial production for some monotonous, frequent and repetitive long-term operations. It performs monitoring, grasping, handling work or manipulating tools in accordance with set procedures, trajectories and requirements. The control methods of the manipulator generally include PID (proportional-integral-derivative control, proportional-integral-derivative control) control, fuzzy control, adaptive control and neural network control. The hardware requirements of the controller are high, which brings a large burden to the cost of...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J18/02
CPCB25J9/1602B25J9/1679B25J18/025
Inventor 张鑫楼旭阳吴炜
Owner JIANGNAN UNIV
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