Mechanical arm control strategy and optimization method for microwave far field-near field scanning and imaging task

Abstract

The invention discloses a mechanical arm control strategy and optimization method for microwave far-field-near-field scanning and imaging tasks, and the method comprises the steps: obtaining an actual unreachable working area of a mechanical arm according to the constraint of a joint limiting angle of a six-joint mechanical arm and the limitation of a plane sampling surface in the antenna polarization direction of an end effector; then, according to the fact that no intersection exists between a tail end sampling point on a space sampling surface and an unreachable area, a microwave source near-field imaging maximum sampling surface is obtained, and finally, based on the shortest path principle under a Cartesian coordinate system and the lowest principle of the front five-axis joint change amplitude under the joint space, the optimal path planning of the joint displacement of the six-joint mechanical arm is obtained. The maximum scanning cylindrical surface and the optimal motion control strategy in the constraint space can be rapidly solved, the problem that an unreachable area can appear in the flexible working space of the mechanical arm is solved, and then optimal implementation of microwave imaging scanning is achieved in the constraint range.

Description

technical field [0001] The invention belongs to the electromagnetic compatibility technology, and completes the automatic detection and positioning of the target radiation source by grasping the detection antenna by the robot. The technical solution combines the multi-joint manipulator with the microwave far-field-near-field transformation and imaging (Emission Source Microscopy, ESM) technology, focusing on the study of its control strategy for the manipulator in the near-field imaging task of the cylindrical scanning microwave source. Through the control strategy, the corresponding maximum scanning surface and the motion path of the manipulator can be quickly generated under the conditions of given detection antenna characteristics and configuration parameters of the manipulator, so as to achieve high-precision and rapid scanning and approach imaging of the first-measured microwave source. Background technique [0002] With the development of the electronics industry, espe...

AI Technical Summary

Problems solved by technology

Due to the limitation of the rotation angle of the manipulator shaft joint itself and the need to forcibly lock the axial direction of the end joint, there will be unreachable areas in the original complete manipulator dexterous workspace, which is in contradiction with the continuous large-scale scanning surface required by microwave imaging scanning.

Images