Flexible control method and system for multi-degree-of-freedom mechanical arm

Abstract

The invention discloses a flexible control method and system for a multi-degree-of-freedom mechanical arm, belongs to the technical field of multi-degree-of-freedom mechanical arm control, and solves the problem of how to obtain load gravity and a gravity center position only through a load parameter identification manner when a tail end tool of the mechanical arm is changed and automatically perform load parameter compensation. Kinematics modeling is conducted according to the characteristics of the mechanical arm, mechanical arm tail end tool load parameters including gravity and the gravity center position are identified, force feedback of a six-dimensional force sensor is obtained, and tool load parameter compensation is conducted; after compensation, force data are substituted into a flexible control strategy module, a pose offset is calculated, a real-time interpolation target track point of the mechanical arm is adjusted, the adjusted target track point is sent to a mechanical arm joint after inverse solution, the joint position and speed in the movement process of the mechanical arm are collected, and load parameter compensation control is automatically carried out; and according to the scheme, when the tail end tool is changed, the gravity and the gravity center position of the tool can be obtained only through the load parameter identification manner, load parameter compensation is automatically carried out, and the working efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of multi-degree-of-freedom manipulator control, and relates to a flexible control method and system for a multi-degree-of-freedom manipulator. Background technique [0002] The current manipulator can replace manual tasks to complete many complex and delicate operations. Traditional manipulators complete specific tasks by teaching spatial position points. At this time, the end of the manipulator is generally in free space, that is, there is no rigid contact between the end of the manipulator and the outside. This method requires high precision of position control, such as handling and palletizing robots. For the case where the end of the manipulator is in rigid contact with the outside, for example, the grinding task requires the end of the manipulator to maintain constant force contact with the operation target; the assembly task requires the manipulator not only to control the end tool to reach a precise p...

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Problems solved by technology

[0004] Although the technical solution of the above-mentioned Chinese invention patent application is optimized in the linkage movement process, the stability of the linkage of the mechanical

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