Control method of four-axis mechanical arm for grabbing explosives

Abstract

The invention discloses a control method of a four-axis mechanical arm for grabbing explosives, belongs to the technical field of explosion prevention and explosive disposal, and can fundamentally reduce the equipment operation difficulty and improve the explosive disposal efficiency. The control method comprises the following steps that according to an initial position P1 and a target point P2 of the tail end of the mechanical arm, position points of a line segment P1P2 are averagely divided, and the divided position points, the P1 and the P2 form a tail end track of the mechanical arm; coordinates of the tail end position points of the mechanical arm are sequentially obtained; and a rotation angle theta 1 of the axis of a first shoulder joint, a rotation angle theta 2 of the axis of a second shoulder joint and a rotation angle theta 3 of the axis of an elbow joint are all calculated by an inverse motion calculation process. A control end periodically sends a control instruction, the control instruction comprises theta 1, theta 2 and theta 3 corresponding to each tail end position point currently calculated in the inverse motion calculation process, and the control instruction is used for controlling shaft rotation angles of the first shoulder joint, the second shoulder joint and the elbow joint of the mechanical arm, so that the tail end of the four-axis mechanical arm reaches the target point P2 from the initial position P1.

Description

technical field [0001] The invention belongs to the field of explosion-proof and de-explosion technology, and in particular relates to a control method for a four-axis mechanical arm used for grabbing explosives. Background technique [0002] At present, the remote disposal of explosives is mainly based on EOD robots. With the development of domestic technology, the technical level of EOD robots at home and abroad has approached. However, regardless of domestic or foreign EOD robots, the control of the mechanical arm only provides the operation mode of the axis space (corresponding to the operation mode based on the Cartesian space proposed by the present invention). [0003] Such as figure 1 As shown, the operation mode of the so-called axis space means that, for a commonly used four-axis EOD robot (one control axis of the robot can also be called a joint), it consists of two shoulder joints, one elbow joint, and one wrist joint. A mechanical gripper for explosives grabbi...

AI Technical Summary

Problems solved by technology

This kind of operation method is not only complicated to operate, but also very unintuitive because the position and posture of the mechanical gripper is controlled by operating each axis.

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