Mechanical arm control method and device and terminal equipment

Abstract

The invention provides a mechanical arm control method. The mechanical arm control method comprises the steps that obstacle information associated with a mechanical arm is obtained; the current pose information of the mechanical arm is obtained, and the tail end expected pose information of the mechanical arm is obtained; according to the obstacle information, the current pose information, the tail end expected pose information and a preset dynamic system model function, a tail end expected track of the mechanical arm is determined; according to the tail end expected track, the tail end expected speed of the mechanical arm is determined; according to the obstacle information and the current pose information of the mechanical arm, the virtual speed of a target point on the mechanical arm is determined, and the target point is the point, closest to an obstacle, on the mechanical arm; and according to the virtual speed and the tail end expected speed, the target joint speed corresponding to a target joint of the mechanical arm is determined. According to the mechanical arm control method, the redundant mechanical arm can effectively avoid obstacles in the application environment with various obstacles and can execute corresponding tasks at the same time.

Description

technical field [0001] The present application belongs to the field of robotic arm technology, and in particular relates to a robotic arm control method, a robotic arm control device, terminal equipment, and a computer-readable storage medium. Background technique [0002] With the continuous advancement of robotic arm technology and the expansion of application scenarios, people's requirements for the operational capabilities of robotic arms are also increasing. Due to its better flexibility and adaptability, robotic arms with redundant degrees of freedom (also called redundant robotic arms) are widely used in various application scenarios. [0003] However, as application scenarios vary and become more complex, redundant robotic arms may need to perform tasks in complex environments with various obstacles. Therefore, there is an urgent need for a method for enabling redundant robotic arms to perform corresponding tasks while effectively avoiding obstacles in a complex env...

AI Technical Summary

Problems solved by technology

[0003] However, as application scenarios are diverse and increasingly complex, redundant robotic arms may need to perform tasks in complex environments with various obstacles

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