A projection kinematics control method for a large heavy-duty manipulator

Abstract

The invention belongs to the field of large-scale heavy-duty robots, in particular to a projection kinematics control method of large-scale heavy-duty mechanical arms. It includes the following steps: establish a three-dimensional geometric model of the mechanical arm according to the actual mechanical arm; set multiple projection surfaces; perform projection mapping on the three-dimensional geometric model, and obtain the joints J1-J4 and the end point EE of the end effector on each projection surface The projection; according to the three-dimensional geometric model and the projection on each projection surface, the joint angle θ is obtained 1 , θ 2 , θ 3 , the elongation of J4 and the corresponding relationship with EE. Get the joint angle θ according to EE 1 , θ 2 , θ 3 The rotation angle is used as the input value of the joint motor, and the actual angle of the joint is used as the feedback value, and the joint rotation is controlled through closed-loop control to realize the movement of the mechanical arm. The projection kinematics control method proposed by the present invention is an analytical solution method, and compared with other numerical solution methods, iterative solution is not required, the solution efficiency is high, and the real-time requirement of the control system is guaranteed.

Description

technical field [0001] The invention belongs to the field of large-scale heavy-duty robots, in particular to a projection kinematics control method of large-scale heavy-duty mechanical arms. Background technique [0002] With the development of my country's urbanization process, the construction industry has ushered in a new round of industrial transformation, that is, through the research and development of construction robots to replace construction workers to complete some "high-risk" and "dirty, tired, poor" repetitive tasks, In turn, it allows construction workers to devote themselves to more valuable and easier positions, so as to improve the efficiency of construction and construction, and promote the automation and intelligent transformation and upgrading of the construction field. At present, for heavy-duty operation tasks in the construction field, operators generally control large-scale hydraulic mechanical arms to achieve lifting, handling and reloading of heavy-d...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that the inverse kinematics solution efficiency of the existing large-scale heavy-duty manipulator is not high, the present invention provides a projection kinematics control method of the large-scale heavy-duty manipulator

Images