Joint rotating angle auxiliary measuring system and method of serial rotary joint mechanical arm

Abstract

The invention provides a joint rotating angle auxiliary measuring system of a serial rotary joint mechanical arm. The joint rotating angle auxiliary measuring system comprises an attitude measuring unit and a computer. The attitude measuring unit comprises a microprocessor, a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, wherein the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are connected with the microprocessor through electric signals. The attitude measuring unit is further provided with a fixed end, and the attitude measuring unit is fixedly arranged at any position of any plane of each joint of the mechanical arm through the fixed end. The attitude measuring unit is in communication connection with the computer.The computer is used for calculating the joint rotating angles of the mechanical arm according to attitude information of the attitude measuring unit. Flexible, convenient, efficient and accurate joint rotating angle measuring is achieved without being affected by the environment. Measuring is not limited by the environment, joint rotating angle information of the serial mechanical arm in the movement process can be obtained through calculation, and the measuring process of the joint rotating angles of the mechanical arm is greatly simplified.

Description

technical field [0001] The invention belongs to the technical field of measuring the joint rotation angle of a mechanical arm, and relates to an attitude detection unit including an industrial-grade three-axis gyroscope, an industrial-grade three-axis accelerometer, and an industrial-grade three-axis magnetometer to measure the joints of a series rotating joint mechanical arm. The measurement method of the auxiliary measurement of the rotation angle. Background technique [0002] The high-precision encoder system contained in the robotic arm is the main means for the user to obtain the angle information of each joint of the robotic arm during motion. Usually, in order to more accurately monitor the position and attitude of the robotic arm during motion, users usually introduce an auxiliary joint angle measurement system. [0003] This joint angle auxiliary measurement system can be used as an auxiliary means to monitor the joint angle information of the manipulator, and pro...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problem of auxiliary measurement of the joint angle of the series rotary joint manipulator, the present invention proposes an auxiliary joint angle measurement method of the series rotary joint manipulator, by including an industrial-grade three-axis gyroscope, an industrial-grade three-axis accelerometer and The attitude detection unit of the industrial-grade three-axis magnetometer is fixed on each joint of the tandem rotary joint manipulator with any attitude, and the quaternion information output by each attitude measurement unit during the movement of the manipulator is used to solve the real-time calculation of each joint of the manipulator. Rotation angle, the purpose of this measurement method is to provide an easy-to-deploy, low-cost, high-flexibility auxiliary measurement method for joint rotation angles for tandem rotary joint manipulators

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