A control method, system, device and medium for a large-stroke multi-stage telescopic arm
A control method and telescopic arm technology, applied in the direction of program control manipulators, claw arms, manufacturing tools, etc., can solve the problems of inability to realize error compensation, low precision, and limitations, so as to avoid waste of resources, improve positioning accuracy, and reduce lag sexual effect
Active Publication Date: 2022-04-22
GUANGZHOU UNIVERSITY
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Problems solved by technology
The huge amount of data exchange and calculation not only reduces the working performance of the operating system, but also causes a certain lag, which makes it impossible to achieve ideal error compensation. The accuracy of error compensation for large-stroke multi-stage telescopic arms is also relatively low; limited Based on the compensation method of real-time calibration, even if the same trajectory is run, the method of the prior art needs to be compensated every time it is run, resulting in duplication of work and waste of resources
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[0050] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. For the step numbers in the following embodiments, it is only set for the convenience of illustration and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art sexual adjustment.
[0051] The embodiment provided in this specification is a control method of a heavy-duty large-scale robot based on a tooth-driven multi-stage telescopic arm. Taking a heavy-duty tooth-driven two-stage telesco...
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The invention provides a control method, system, device and medium for a large-stroke multi-stage telescopic arm. The method includes dividing the multi-stage telescopic arm to obtain several secondary telescopic arms; establishing a first error model of the secondary telescopic arm; The first error model is used to obtain the first coupling deflection of the motion trajectory; the second coupling deflection is obtained by simulating the motion trajectory, and the error compensation is performed on the first error model according to the first coupling deflection and the second coupling deflection to obtain the second error model, The movement of the multi-stage telescopic boom is controlled according to the second error model. The method improves the positioning accuracy of the telescopic arm, and greatly reduces the hysteresis caused by the large amount of data and the operation process. In addition, the method does not need to use sensors to obtain the pose information of a certain segment of fixture, and also avoids the waste of resources caused by repeated compensation, and can be widely used in the field of robot control technology.
Description
technical field [0001] The invention belongs to the technical field of robot control, in particular to a control method, system, device and medium of a large-stroke multi-stage telescopic arm. Background technique [0002] With the development of industry, some industries need to use robots for large-scale operations. Robots for large-scale operations generally use the structure of multi-stage telescopic arms to achieve large-scale operations. However, the telescopic arms at all levels are prone to flexible deformation under heavy loads and large-scale operations. The coupling effect of this structure is serious. For the end fixture Pose prediction is very difficult, resulting in poor positioning accuracy. In addition, the production error, assembly clearance, and joint transmission clearance of the multi-stage telescopic arm will aggravate the coupling effect. [0003] The robot error compensation method proposed in the prior art mainly relies on the real-time comparison ...
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IPC IPC(8): B25J9/16B25J18/02
CPCB25J9/1664B25J18/025
Inventor 张春良马亮华吴文强何俊峰邓清文施冬冬朱厚耀
Owner GUANGZHOU UNIVERSITY