Robotic arm control method, device, equipment, system, storage medium and robotic arm
A control method and technology of a manipulator, applied in the field of manipulators, can solve problems such as safety risks in the admittance control strategy, and achieve the effect of avoiding collisions and improving safety
Active Publication Date: 2021-10-29
SHENZHEN YUEJIANG TECH CO LTD
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Problems solved by technology
[0005] The main purpose of the present invention is to propose a method for controlling a manipulator, aiming to solve the technical problem that the admittance control strategy adopted by the existing manipulator has safety risks
Method used
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Embodiment Construction
[0108] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but cannot be construed as limitations to the present invention. Based on the embodiments in the present invention, those skilled in the art do not make creative work premise All other embodiments obtained below all belong to the protection scope of the present invention.
[0109] The present invention proposes a method for controlling a mechanical arm, see figure 1 , the manipulator control method includes the following steps:
[0110] Step S10, obtaining the proximity of the obstacle, which is calculated through the monitoring data of the electronic skin module;
[0111] The...
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The invention discloses a control method, device, equipment, system, storage medium and a mechanical arm. The control method of the mechanical arm includes: acquiring the proximity of an obstacle, and the proximity is calculated by monitoring data of an electronic skin module; The degree of proximity is converted into repulsion; the admittance output position that can avoid the obstacle is obtained, and the admittance output position is obtained by calculating the repulsion through the admittance control model; the admittance output position is sent to each Joint controller. The robot arm control method proposed in the present invention senses obstacles around the robot arm through the electronic skin module, and converts the proximity of the robot arm to the obstacle into a corresponding repulsion force when the obstacle is sensed, and converts the The repulsive force is input to the admittance control model to output the admittance output position capable of avoiding obstacles through the admittance control model, thereby avoiding the collision between the manipulator and the obstacle and improving the safety of the manipulator.
Description
technical field [0001] The present invention relates to the field of manipulators, in particular to a control method, device, equipment, system, storage medium and manipulator of a manipulator. Background technique [0002] Industrial robotic arms have been widely used in production automation. Most industrial robotic arms work through pre-programmed programs, which is called position control. However, when the external conditions change, the working state of the mechanical arm will change. In order to make the mechanical arm perform correct actions, the mechanical arm should make corresponding adjustments to make its actions correspond to the changes in external conditions. [0003] To make the manipulator respond to changes in the outside world, visual sensors, force sensors, etc. are usually used to sense the changes in the outside world, and then feed the information back to the control system so that it can control the movement of the manipulator according to the change...
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IPC IPC(8): B25J9/16B25J9/00B25J13/00B25J19/02
CPCB25J9/1602B25J9/161B25J9/1666B25J9/0009B25J13/00B25J19/02
Inventor 黄睿姜宇郎需林刘主福刘培超庄飞飞
Owner SHENZHEN YUEJIANG TECH CO LTD