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Multi-degree-of-freedom mechanical arm control system and method, storage medium and computer

A technology of a robotic arm and a control method, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as linkage motion jitter and complex solutions

Pending Publication Date: 2020-06-02
JIMEI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problems existing in the existing technology are: the current multi-degree-of-freedom robotic arm has complex solutions and linkage motion jitter.

Method used

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  • Multi-degree-of-freedom mechanical arm control system and method, storage medium and computer
  • Multi-degree-of-freedom mechanical arm control system and method, storage medium and computer
  • Multi-degree-of-freedom mechanical arm control system and method, storage medium and computer

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Experimental program
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Embodiment

[0119] The first step is to unify the 3-axis settings and the unified coordinate system to establish the coordinate system; perform transformation between coordinate systems, convert the reference system of the coordinate point from the previous one to the next one, and derive the coordinate equations of the end point through the superposition of the coordinate system , confirm the position coordinates of the end point. The derivation process is detailed in Table 1, the final end point position equation group: the equation on the X axis:

[0120] X=(-((L8+L7)*sin(f)*cos(e)*sin(d)+((L8+L7)*cos(f)+L6+L5)*cos(d)+L4+ L3))*cos(a)-(-(((-(((L8+L7)*sin(f)*cos(e)*cos(d)-((L8+L7)*cos(f)+L6 +L5)*sin(d))*cos(c)-((L8+L7)*sin(f)*sin(e))*sin(c)))*cos(b)-((L8+L7 )*sin(f)*cos(e)*sin(d)+((L8+L7)*cos(f)+L6+L5)*cos(d)+L4+L3)*sin(b))) *sin(a)

[0121] Equation on the Y axis:

[0122] Y=(-((L8+L7)*sin(f)*cos(e)*sin(d)+((L8+L7)*cos(f)+L6+L5)*cos(d)+L4+ L3))*sin(a)+(-(((-(((L8+L7)*sin(f)*cos(e)...

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Abstract

The invention belongs to the technical field of industrial robots, and discloses a multi-degree-of-freedom mechanical arm control system and method, a storage medium and a computer. The multi-degree-of-freedom mechanical arm control method comprises the following steps of establishing coordinate systems; performing transformation between the established coordinate systems, transforming a previousreference system of coordinate points to a next reference system of the coordinate points, and confirming the position coordinate of a tail end point; determining the rotation angle of an ID6190 rotation module, enabling a mechanical arm to face a target point in the forward direction, and solving the rotation angle of each rotation candidate module; differentiating a track, solving section by section, and then achieving the whole linkage control process through calling a control interface in the bottom layer of the mechanical arm; and using a built-in EV-MRobot three-dimensional simulation system and a robot tool box of Matlab for displaying the pose of the seven-degree-of-freedom mechanical arm. According to the control method, solutions, corresponding to multiple poses, of the same space coordinate of the mechanical arm can be avoided; and the linkage motion process is optimized, so that the linkage stability of the mechanical arm is improved, and shaking is reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a multi-degree-of-freedom mechanical arm control system, method, storage medium and computer. Background technique [0002] At present, in the field of industrial robots, most of the widely used mechanical arms have four degrees of freedom. The popularity of multi-degree-of-freedom robotic arms is not high in practical applications, and there are problems such as complex solution and linkage motion jitter. [0003] To sum up, the problems existing in the prior art are: the current multi-degree-of-freedom robotic arm has complicated solution and linkage motion jitter. Contents of the invention [0004] Aiming at the problems existing in the prior art, the present invention provides a multi-degree-of-freedom mechanical arm control system, method, storage medium, and computer. [0005] The present invention is achieved in this way, a method for controlling ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 王罡郭芳泽吴定都
Owner JIMEI UNIV