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Control method of mechanical arm Constrain Space

A control method and technology of robotic arms, which are applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of algorithm control accuracy and low flexibility, achieve good bio-simulation, improve flexibility, improve control accuracy and spirit effect

Active Publication Date: 2020-11-27
WOOTION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a control method of a mechanical arm Constrain Space, which solves the technical problem of low control accuracy and low flexibility in the case of two degrees of freedom limited by inherent defects such as lack of flexibility of the algorithm in the prior art

Method used

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  • Control method of mechanical arm Constrain Space

Examples

Experimental program
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Effect test

Embodiment 1

[0045] The embodiment of the control method of the manipulator Constrain Space of the present invention is basically as attached figure 1 shown, including steps:

[0046] S1. Determine the working plane of the manipulator;

[0047] S2. In the working plane, determine the safe area for the rotation of the mechanical arm according to the position distribution information of the obstacles;

[0048] S3, setting the movement path of the mechanical arm in the safe area;

[0049] S4. Establish the spatial model of the arm and the spatial model of the mechanical arm, and obtain the mapping relationship between the arm and the mechanical arm;

[0050] S5. Obtain the three-dimensional coordinates of the arm joints, and calculate the corresponding three-dimensional coordinates of the mechanical arm joints according to the mapping relationship between the arm and the mechanical arm;

[0051] S6. Calculate the joint value of the mechanical arm from the three-dimensional coordinates of t...

Embodiment 2

[0070] The only difference from Example 1 is that after obtaining the three-dimensional coordinates of the arm joints, when calculating the corresponding three-dimensional coordinates of the manipulator joints according to the mapping relationship between the arm and the manipulator, in order to reduce the amount of subsequent calculations, the arm joints The three-dimensional coordinates and the three-dimensional coordinates of the manipulator joints are transformed into the same coordinate system, thereby avoiding unnecessary coordinate transformations.

Embodiment 3

[0072] The only difference from Embodiment 2 is that when the focus of the camera is suddenly blurred due to movement, or the area occupied by the dynamic object becomes smaller due to the change from near to far, a pre-judgment is made to determine whether the focus of the camera is suddenly blurred or the dynamic object is moving. Is the area occupied by the target smaller in the frame due to the movement of the lens or the movement of the object being photographed. Specifically, set the reference object in advance to determine whether there is relative motion between the camera or the captured object and the reference object: if there is relative motion between the camera and the reference object, it means that the focus of the camera is suddenly blurred or the dynamic target is in the frame. The smaller occupied area is caused by the movement of the lens. At this time, adjust the static posture of the camera to keep it still; on the contrary, if there is relative motion bet...

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Abstract

The invention relates to the technical field of mechanical arm motion control, and particularly relates to a control method of mechanical arm Constrain Space. The control method comprises the steps that S1, a working plane of a mechanical arm is determined; S2, in the working plane, a safe area of rotation of the mechanical arm is determined according to position distribution information of obstacles; S3, a motion path of the mechanical arm is set in the safe area; S4, a Space model of the arm and a Space model of the mechanical arm are established, and the mapping relation between the arm andthe mechanical arm is obtained; S5, three-dimensional coordinates of arm joints are obtained, and three-dimensional coordinates of corresponding mechanical arm joints are calculated according to themapping relation between the arm and the mechanical arm; S6, joint values of the mechanical arm are calculated according to the three-dimensional coordinates of the mechanical arm joints; and S7, themechanical arm is controlled to advance along the motion path according to the joint values. The control method solves the technical problems that in the prior art, the control precision and flexibility are low under the condition of two degrees of freedom due to the inherent defects that an algorithm is limited and lacks flexibility.

Description

technical field [0001] The invention relates to the technical field of mechanical arm motion control, in particular to a control method of a mechanical arm Constrain Space. Background technique [0002] At present, robots are more and more widely used in industrial production, and gradually penetrate into people's daily life, such as sweeping robots. With the continuous improvement of people's performance requirements, robots are gradually moving from basic automation to intelligence, which greatly increases the pressure on algorithms, hardware, and software upgrades; The movement posture and movement path of the arm. [0003] For example, the document CN106003027A discloses a method for setting the movement path of the mechanical arm, including: determining the circular safety area for the rotation of the mechanical arm according to the position distribution information of obstacles; determining the starting position and the end position of the end of the mechanical arm, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/163B25J9/1605Y02P90/02
Inventor 晁战云罗元泰袁洪跃钟启明万钟平赖晗李元杰
Owner WOOTION TECH