Manipulator control method, manipulator control device, computing equipment and system

Abstract

The present application applies to the technical field of robotic arms, and provides a robotic arm control method, a robotic arm control device, a computing device, a system, and a computer-readable storage medium. The robotic arm control method includes: acquiring pose information collected by at least one sensing device , the pose information includes information about the pose of the target object; obtain the mapping relationship between the pose information and the joints in the robotic arm; determine the mechanical arm according to the pose information and the mapping relationship The current arm angle value of the arm; according to the relationship between the joint angle of each of the M joints and the arm angle, the pose information and the current arm angle value, the target angle value of each joint is obtained. Through the above method, the problem that the calculation process of the robotic arm is complicated and time-consuming can be solved when the action simulation of the robotic arm is performed.

Description

Technical field [0001] This application is the field of robotic arm technology, especially involving robotic arm control methods, robotic arm control devices, computing equipment, systems and computers readable storage media. Background technique [0002] Due to its good flexibility and adaptability, robotic arms with redundant freedom have been widely used in various applications. For example, the corresponding functions can be achieved through the interaction between robotic arm and other objects (such as controlling control (such as controlling control (such as controlling control Robotic arms grabbing, etc.). Among them, the robotic arm with redundant freedom can be used to imitate the movements of specific objects to achieve many aspects of teaching, demonstration, entertainment, and completing operating tasks in complex environments. [0003] However, in practical applications, when determining the motion state of the robotic arm with redundant freedom, there are countless ...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a control method for a manipulator, a control device for a manipulator, a computing device, a system, and a computer-readable storage medium, which can solve the problem that the calculation process of the manipulator is relatively complicated and takes a long time when imitating actions.

Images