Mechanical arm control method based on model design

A technology of model design and control method, applied in the direction of manipulator, program control manipulator, claw arm, etc., can solve the problems of repeated debugging and error-prone development, and achieve the effect of increasing experimental safety, reducing development cost and simplifying the programming process.

Inactive Publication Date: 2021-02-09
XI'AN POLYTECHNIC UNIVERSITY
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method for controlling a manipulator based on model design, which solves the problem in the prior art that is prone to errors and leads to repeated development and debugging

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  • Mechanical arm control method based on model design
  • Mechanical arm control method based on model design
  • Mechanical arm control method based on model design

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Embodiment Construction

[0036] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0037] The present invention is a kind of mechanical arm control method based on model design, such as figure 1 As shown, the specific steps are as follows:

[0038] Step 1. In the model design stage, according to the purpose and function of the manipulator, use SOLIDWORK software to design the 3D model of the manipulator to obtain the CAD file;

[0039] Step 1 is specifically implemented according to the following steps:

[0040] Step 1.1. According to the purpose and functional requirements of the manipulator, design the 3D model CAD file of the manipulator through SOLIDWORK software, such as figure 2As shown, and determine the hardware selection of the robot, mainly the selection of drivers and processors and sensors. In general, the bus servo is selected for the driver, the DSP controller is selected for the processor, the processor h...

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Abstract

The invention discloses a mechanical arm control method based on model design, which is specifically implemented according to the following steps of performing three-dimensional model design on a mechanical arm by using SOLIDWORK software according to the application and the function of the mechanical arm to obtain a CAD file; configuring and exporting a URDF file for the obtained mechanical arm CAD file, importing the URDF file into GAZEBO software in an ROS system to obtain a robot model, and importing the URDF file into an SIMULINKN module in MATLAB software to obtain the robot model; usingRVIZ software to carry out motion planning verification on the obtained robot model in the GEZEBO software to verify the correctness of the robot model, and using an SIMULINK robot model obtained through the SIMULINK design mechanical arm motion planning verification model in MATLAB software to perform motion planning to verify the correctness of the SIMULINK robot. and finally, verifying the correctness of a semi-physical simulation model by using an MATLAB and ROS joint simulation model designed in the MATLAB software. Physical prototype test kinematics trajectory planning is realized, thereliability of a physical prototype is verified, and mechanical arm control is completed. The problem that in the prior art, errors are prone to occurring, and consequently development is repeatedly debugged is solved.

Description

technical field [0001] The invention belongs to the technical field of robot development, and relates to a control method of a mechanical arm based on model design. Background technique [0002] The robotic arm is a branch of the robot. With the development of the times, the widely used robotic arm in the industrial scene is gradually applied in various life scenes. As a multi-purpose service robot, it provides more convenience for human life. The market prospect of the robotic arm is broad, and it has the characteristics of diversified and rapid application. Its vigorous development also brings many challenges, and puts forward higher requirements for the traditional design, development and application process. [0003] In traditional development and design, the mathematical model simulation research is generally carried out in the SIMULINK software of MATLAB, and the correctness of the control algorithm is verified. When the simulation results match the design requirements...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/16B25J18/00
CPCB25J9/08B25J9/1602B25J9/1664B25J18/00
Inventor 张蕾李义帅王开锋王晓华王文杰
Owner XI'AN POLYTECHNIC UNIVERSITY
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