Motion control method for hot-line work eight-degree-of-freedom mechanical arm

Abstract

The invention provides a motion control method for a hot-line work eight-degree-of-freedom mechanical arm, which mainly solves the problems of six-degree-of-freedom arm kinematics calculation and two-degree-of-freedom insulating rod control of the eight-degree-of-freedom mechanical arm under the hot-line work condition, the eight-degree-of-freedom arm is split, and the two-degree-of-freedom insulating rod and the six-degree-of-freedom arm are separately controlled, so that the two-degree-of-freedom mechanical arm can be independently controlled. The problems of instability and low solving efficiency of a numerical solution adopted by a multi-degree-of-freedom machine can be avoided, and the control precision and the solving rate of the mechanical arm are improved.

Description

technical field [0001] The invention relates to the technical field of mechanical arm control, in particular to a motion control method of an eight-degree-of-freedom mechanical arm for live work. Background technique [0002] The live working robot is a special robot that replaces manual work at high altitude to complete a series of high-risk operations such as high-voltage cable splicing and disassembly. Compared with traditional manual operations, the operation safety and efficiency are greatly improved. [0003] The multi-DOF redundant manipulator is a configuration manipulator with greatly improved flexibility and joint force compared with the traditional 6-DOF manipulator, while the 8-DOF live working manipulator mainly includes a 6-DOF manipulator and a 2-DOF manipulator. Insulation rods are connected in series, which greatly increases the flexibility of operation. However, the inverse solution problem of redundant manipulators makes engineering application difficult. ...

AI Technical Summary

Problems solved by technology

[0008] In order to solve the problems of the prior art, the present invention provides a motion control method of an eight-degree-of-freedom mechanical arm for live work, which splits the 8-degree-of-freedom arm and controls the 2-degree-of-freedom insulating rod and the 6-degree-of-freedom arm separately, which can avoid The multi-degree-of-freedom machine adopts the instability of the numerical solution and the low efficiency of the solution, which improves the control accuracy and solution speed of the manipulator

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