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Control method of follow-up mechanical arm

A control method and technology of robotic arms, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc.

Pending Publication Date: 2020-07-03
SUZHOU ANHUI SAIERWODE INTERNET OF THINGS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in both methods, it is difficult to make the robot arm achieve real-time sensitive and precise follow-up

Method used

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  • Control method of follow-up mechanical arm
  • Control method of follow-up mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0014] Such as figure 1 , 2 As shown, a control method for a follow-up manipulator is used to collect the pulse signal output by a pulse generator set on the human arm to directly control the robot joint motor drive unit to realize precise follow-up of the robot manipulator.

[0015] The pulse generator is a pull-cord pulse generator.

[0016] The pulse signal is directly transmitted to the motor drive unit in proportion to drive, thereby driving the servo electric cylinder to move the corresponding length, and realizing precise follow-up of the robot joints.

[0017] On the forearm and the rear arm of the human arm, protectors are installed on both sides of the bending part to perform stretching and bending movements with the arms.

[0018] The mechanical arm includes an upper mechanical arm and a lower mechanical arm hingedly connected at one end, hinge points are set in the upper mechanical arm and the lower mechanical arm, and the two ends of the servo electric cylinder ...

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PUM

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Abstract

The invention discloses a control method of a follow-up mechanical arm. The method is characterized in that pulse signals output by a pulse generator arranged on a human arm are acquired, and a robotjoint motor driving unit is directly controlled to realize accurate follow-up of the robot mechanical arm. The pulse generator is a pull-rope pulse generator. The pulse signals are directly transmitted to the motor driving unit in proportion to achieve driving, so that a servo electric cylinder is driven to move by a corresponding length, and accurate follow-up of a robot joint is achieved. The pull-rope pulse generator is driven by the human arm to send forward and reverse pulse signals, the pulse signals are directly transmitted to the motor driving unit in proportion, and the servo electriccylinder is driven to move by the corresponding length, and accurate follow-up of the robot joint is achieved.

Description

technical field [0001] The invention relates to a control method of a follower mechanical arm, which belongs to the technical field of robot control. Background technique [0002] The movement of robot joints requires control signals. The control signals of existing robot joints either come from the host computer or the attitude sensor, and then transfer to the motor drive unit after complex calculations. However, in these two methods, it is difficult to make the mechanical arm achieve real-time sensitive and precise follow-up. Contents of the invention [0003] In order to solve the problems existing in the current technology, the present invention provides a control method of a mechanical arm that can realize real-time sensitive and precise follow-up. [0004] In order to achieve the above-mentioned purpose, the technical means adopted in the present invention is: a control method of a follower mechanical arm, to collect the pulse signal output by the pulse generator ar...

Claims

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Application Information

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IPC IPC(8): B25J13/08B25J13/00B25J9/16B25J3/00
CPCB25J13/088B25J13/006B25J9/1664B25J9/1689B25J3/00
Inventor 徐航
Owner SUZHOU ANHUI SAIERWODE INTERNET OF THINGS TECH CO LTD