Mechanical arm positioning control method and system, robot and storage medium

A control method and a technology of a manipulator, which can be applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as low precision

Active Publication Date: 2021-09-03
CHENGDU BORNS MEDICAL ROBOTICS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the related art, it mainly relies on manually dragging the mechanical arm to move the terminal instrument on the mechani

Method used

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  • Mechanical arm positioning control method and system, robot and storage medium
  • Mechanical arm positioning control method and system, robot and storage medium
  • Mechanical arm positioning control method and system, robot and storage medium

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Embodiment Construction

[0047] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0048] see below figure 1 , figure 1 It is a flow chart of a positioning control method of a robotic arm provided in an embodiment of the present application.

[0049] Specific steps can include:

[0050] S101: receiving the control instruction transmitted by the controller;

[0051] This embodiment can be applied to a control device of a robotic ...

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Abstract

The invention discloses a mechanical arm positioning control method and system, a robot and a storage medium. The mechanical arm positioning control method comprises the steps that a control instruction transmitted by a controller is received, wherein the control instruction is used for controlling the mechanical arm to move in the three-axis direction; an increment pose transformation matrix of the mechanical arm is determined according to the control instruction; the target pose of the mechanical arm is calculated according to the current pose transformation matrix and the increment pose transformation matrix of the mechanical arm; and the moving path of the mechanical arm converted to the target pose is calculated, and the mechanical arm is controlled to execute positioning operation according to the moving path. According to the mechanical arm positioning control method, automatic positioning of the mechanical arm can be achieved, and the positioning accuracy of the mechanical arm is improved. The disclosed mechanical arm positioning control system, the robot and the storage medium also have the above beneficial effects.

Description

technical field [0001] The present application relates to the field of automatic control of manipulators, and in particular to a position control method, system, robot and storage medium of a manipulator. Background technique [0002] With the advancement of science and technology, robot technology has gradually matured and been widely used. The robot usually includes a master console and a slave operating device. The master console includes a handle, and the operator sends control commands to the slave operating device through the operating handle; the slave operating device includes a robotic arm, and the distal end of the robotic arm has an operating arm, and the operating arm has a terminal instrument. . Since the robot usually has multiple mechanical arms, different operating instruments, such as scalpels, surgical scissors, endoscopes, nozzles, electric welding, etc., can be installed on different mechanical arms according to the division of labor during the operation...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/08B25J13/00
CPCB25J9/1664B25J9/161B25J13/08B25J13/00
Inventor 李耀其他发明人请求不公开姓名
Owner CHENGDU BORNS MEDICAL ROBOTICS INC
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