Mechanical arm control method and system, robot and storage medium

Abstract

The invention discloses a mechanical arm control method and system, a robot and a storage medium. The mechanical arm control method comprises the steps that pose offset information of a bed body is obtained, wherein the bed body is used for containing an operation object of a mechanical arm, and the pose offset offset information is used for describing the change of the pose of the bed body at the current moment relative to the pose of the bed body at the previous moment; the target pose of the mechanical arm is calculated according to the pose offset information, so that the relative position of a new center point under the target pose is the same as the relative position of an original center point at the previous moment; and the moving path of the mechanical arm converted to the target pose is calculated, and the mechanical arm is controlled to move according to the moving path. The mechanical arm can be controlled to automatically move along with the bed body. The disclosed mechanical arm 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 robotic arm automation control, and in particular to a robotic arm control method, system, robot and storage medium. 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. [0003] In or...

AI Technical Summary

Problems solved by technology

In the actual operation process, it is necessary to adjust the posture of the bed to achieve more convenient operation of the operating object. The conventional operation in this field is to manually adjust the posture of the robotic arm so that the robotic arm can reconnect with the operated object. positioning, this method has the disadvantages of long operation time and low accuracy

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