Mechanical arm track editing visualization method, system and device and storage medium

Abstract

The invention discloses a mechanical arm track editing visualization method, system and device and a storage medium. The method comprises the steps that a three-dimensional space model of a mechanical arm is constructed; the device responds to a track editing operation instruction of a user on a front-end interface, and motion parameters of all joints of the mechanical arm are acquired according to the track editing operation instruction; according to the motion parameters, actions of all the joints of the mechanical arm are simulated through the three-dimensional space model, and a dynamic three-dimensional model of the mechanical arm is obtained; and the dynamic three-dimensional model is displayed through the front-end interface. According to the method, visual editing of the track of the mechanical arm is achieved, and compared with the mode that the track is temporarily recorded through manual driving of the mechanical arm, the method has the advantages that the precision of the track of the mechanical arm is improved, the generated dynamic three-dimensional model can display the edited track in an omni-directional mode, the actions of all the joints can be conveniently corrected, the precision of the track of the mechanical arm is further improved, the training safety is guaranteed, and the user experience is improved. The method can be widely applied to the technical field of sports equipment control.

Description

technical field [0001] The present invention relates to the technical field of sports equipment control, and in particular to a method, system, device and storage medium for editing and visualizing manipulator trajectory. Background technique [0002] At present, most of the rehabilitation training for the upper limbs is carried out manually or with simple equipment. It is difficult for users with muscle strength below level 3 to get sufficient exercise. The disadvantage of manual training is that it relies solely on physical therapists to drive users to exercise. This method has poor sustainability and consumes a lot of physical energy for physical therapists. The disadvantage of simple equipment training is that the movable dimension is small, and users cannot get sufficient exercise. Most of the upper limb training robots on the market are not driven by motors, and can only rely on the user to do training independently, or only have one or two degrees of freedom, and can ...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the rehabilitation training for the upper limbs is carried out manually or with simple equipment. It is difficult for users with muscle strength below level 3 to get sufficient exercise.

The disadvantage of manual training is that it relies solely on physical therapists to drive users to exercise. This method has poor sustainability and consumes a lot of physical energy for physical therapists; the disadvantage of simple equipment training is that the movable dimension is small, and users cannot get sufficient exercise.

Most of the upper limb training robots on the market are not driven by motors, and can only rely on the user to do training independently, or only have one or two degrees of freedom, and can only do some simple passive training, and cannot do passive training at any angle in three dimensions. train

[0003] A six-degree-of-freedom upper limb rehabilitation robot and training method are disclosed in the prior art, which can drive the mechanical arm to move to record the trajectory, and perform training according to the recorded trajectory. In the process of trajectory, not only will there be large jitter, instability, unsmoothness, and the inability to accurately reach the required angle, but also prone to redundant movements and uncontrollable movement speed, resulting in low accuracy of the recorded trajectory and limiting Improve the efficiency of users' rehabilitation training; on the other hand, during the process of recording the trajectory, the physical therapist cannot fully understand the movements of each joint of his limbs, and cannot edit and modify the movements of each joint after the trajectory recording is completed. , which further limits the accuracy of the trajectory of the robotic arm; and this method only relies on the physical therapist to subjectively judge whether the trajectory of the robotic arm is suitable for the user, and cannot divide the trajectory into difficulty levels or safety levels, nor can it display the trajectory of the robotic arm to the user. Not only is the process of track recording cumbersome, but it is also difficult to ensure the safety of user training, which affects the user experience

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