Mechanical arm intelligent control system, method and device based on edge computing

Abstract

The invention belongs to the field of industrial robots, the field of intelligent control and the field of edge computing, and discloses a mechanical arm intelligent control system, method and devicebased on edge computing. The system aims at achieving low-delay and high-safety intelligent control over a mechanical arm, the system comprises a mechanical arm, a sensor, a center cloud, an edge cloud and an edge node, the central cloud is provided with an algorithm file library; the edge cloud obtains a corresponding algorithm file from the center cloud for algorithm program configuration, and acontrol law model and an optimized inverse kinematics model are obtained based on the training data; or constructing a virtual scene three-dimensional model based on the industrial field image; the edge node acquires sensor information and transmits the sensor information to the edge cloud for calculation; and based on the deployed control law, the control amount of the mechanical arm is calculated. The edge cloud serves as a core processing platform and cooperates with the center cloud and the equipment end, and low-delay and high-safety intelligent control over the industrial mechanical armon the edge side of a factory is achieved.

Description

technical field [0001] The invention belongs to the field of industrial robots, intelligent control and edge computing, and specifically relates to an edge computing-based intelligent control system, method, and device for a manipulator. Background technique [0002] Industrial robotic arms are widely used in industrial sites such as automatic handling, assembly, welding, and spraying. They are indispensable key equipment for the manufacturing industry. Therefore, the control technology for industrial robotic arms is a key technology for the manufacturing industry, and it can also improve the level of my country's manufacturing industry. important technology. However, industrial manipulators generally have multiple kinematic joints (of which six degrees of freedom are the most common), and have many dynamic parameters that are difficult to measure, which leads to the control system of industrial manipulators being strongly coupled and highly nonlinear. and uncertain complex ...

AI Technical Summary

Problems solved by technology

However, the application of intelligent control theory and methods to the actual control of industrial manipulators will bring many problems: the theoretical algorithms are aimed at each control stage and are independent of each other, while the intelligent control system needs to combine them organically Together, they constitute a complete set of intelligent control processes to ensure the overall intelligence; in addition, intelligent control is different from traditional control methods, and it requires a large amount of computing resources for training based on algorithms and data, which leads to factories needing Possess powerful intelligent computing capabilities, and also need to ensure low latency and high security in the process

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