Redundant mechanical arm control method and device, readable storage medium and equipment

Abstract

The invention discloses a redundant mechanical arm control method and device, a readable storage medium and equipment. The method comprises the steps of acquiring external force borne by the tail end of a mechanical arm and external force moment borne by each joint; according to the influence degree of each joint on the tail end in each motion dimension and the external force borne by the tail end, calculating the first joint speed of each joint; according to the connecting rod moment generated by the external force borne by the connecting rod on each joint, determining the zero space speed of the current position of the tail end corresponding to each joint, wherein the zero space speed is the speed corresponding to each joint when the tail end position is kept unchanged under the action of the external force of the connecting rod; calculating the total joint speed according to the first joint speed and the zero space speed; and controlling the mechanical arm to move according to the total joint speed. Due to the fact that when the mechanical arm is controlled, the tail end zero space is superposed, when the mechanical arm is subjected to external force, execution of tasks on the tail end cannot be influenced.

Description

technical field [0001] The present application relates to the technical field of automatic control, and in particular, relates to a redundant manipulator control method, device, readable storage medium and equipment. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields. The manipulator is a complex system with uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. For the mechanical arm, it may encounter obstacles during the movement, which will cause the mechanical arm to...

AI Technical Summary

Problems solved by technology

If the adjustment method of the mechanical arm under the condition of the end force is adopted, the mechanical arm will drive the end of the mechanical arm to move under the external force of the connecting rod, which will cause the actual position of the end of the mechanical arm to deviate from the trajectory of the main task

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