Mechanical arm multi-joint linkage control method

Abstract

The invention discloses a mechanical arm multi-joint linkage control method. The control method comprises the following steps that firstly, a mechanical arm control system frame is constructed, and the control system frame comprises a control layer, a model layer and a planning layer; secondly, a mechanical arm fixed base coordinate system, a coordinate system of a plurality of arm support jointsand a mathematical model of the plurality of arm support joints under different configurations are arranged on the model layer; then, a kinematics inverse solution algorithm of a mechanical arm underdifferent configurations is constructed on the control layer based on the mathematical model of the plurality of arm frame joints and the use working condition of the mechanical arm; and finally, a trajectory function of each arm support joint of the mechanical arm is planned on the planning layer based on the kinematics inverse solution algorithm. The control method and the control system framework can be popularized to general engineering machinery to realize high-precision and intelligent control of the engineering machinery.

Description

technical field [0001] The invention belongs to the field of construction machinery, and in particular relates to a multi-joint linkage control method of a mechanical arm. Background technique [0002] The control of the existing vehicle-mounted engineering manipulator can be divided into two types: single-joint control and multi-joint linkage control based on terminal motion. The first method is widely used in various construction machinery such as excavators and concrete pump trucks. The second method It is mainly aimed at concrete pump trucks with intelligent boom technology, and plans the attitude and speed of each mechanical boom by giving the moving speed and direction of the hose at the end of the mechanical arm of the pump truck. [0003] At present, pump trucks equipped with intelligent boom technology are generally controlled by remote controllers, but the above-mentioned control methods are only applied to planar construction machinery with few degrees of freedom ...

AI Technical Summary

Problems solved by technology

[0003] At present, pump trucks equipped with intelligent boom technology are generally controlled by remote controllers, but the above-mentioned control methods are only applied to planar engineering machinery with few degrees of freedom or redundant degrees of freedom whose booms are all rotating joints, such as concrete pump trucks. Moreover, open-loop position and attitude control can only be realized with manual assisted intervention, with low control precision, cumbersome operation, and poor intuition

[0004] In addition, the control method adopted by some engineering manipulators is open-loop control, which is only for the situation where the target position is known, and cannot be applied to the high-precision intelligent control of engineering manipulators in the case of remote operation.

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