Mechanical arm control method and device

A robotic arm and joint technology, applied in the field of robotic arm control methods and devices, can solve the problems of large amount of calculation, low efficiency of target rotation angle, low efficiency of robotic arm control, etc., to reduce the amount of calculation, improve control efficiency and The effect of controlling real-time performance and improving computing efficiency

Active Publication Date: 2022-07-29
HANGZHOU SANTAN MEDICAL TECH
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Problems solved by technology

[0004] However, the calculation of the target rotation angle of each joint needs to consider the transformation relationship between the coordinate systems of each joint, so the calculatio

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  • Mechanical arm control method and device
  • Mechanical arm control method and device

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Embodiment Construction

[0099] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on the present invention fall within the protection scope of the present invention.

[0100] see Figure 1a , Figure 1a This is a schematic flowchart of a first method for controlling a robotic arm provided by an embodiment of the present invention. In this embodiment, the above method includes the following steps S101-S105.

[0101] Step S101 : establishing a forward kinematics model of the manipulator in the base coordinate system corresponding to the base of the manipulator.

[0102] Wherein, the above-mentioned ma...

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Abstract

The embodiment of the invention provides a mechanical arm control method and device, and relates to the technical field of data processing.The method comprises the steps that a forward kinematics model of a mechanical arm is established under a base coordinate system corresponding to a base of the mechanical arm; determining a first relationship between the pose data of the tail end of the mechanical arm under the base coordinate system and the rotation angle of each joint in the mechanical arm according to the forward kinematics model; expected pose data of the tail end of the mechanical arm under the base coordinate system are obtained; according to the forward kinematics model, the first relation and the expected pose data, target angles for rotating all joints in the mechanical arm are calculated; and all the joints are controlled to rotate according to the corresponding target angles, so that the pose data of the tail end of the mechanical arm under the base coordinate system are expected pose data. By applying the scheme provided by the embodiment of the invention to control the mechanical arm, the efficiency of controlling the mechanical arm can be improved.

Description

technical field [0001] The invention relates to the technical field of data processing, and in particular, to a method and device for controlling a robotic arm. Background technique [0002] The robot can be installed with a multi-joint robotic arm, and each joint in the robotic arm can rotate around its own axis. During the working process of the robot, the robot can obtain the desired pose data of the end of the robotic arm, and adjust the movement of the robotic arm by controlling the rotation of the joints. pose, so that the pose data at the end of the manipulator is the set desired pose data, so as to realize the control of the manipulator. [0003] When the robot controls the joint rotation of the manipulator, it is usually necessary to establish the joint coordinate system corresponding to each joint in advance, and calculate the transformation relationship between the joint coordinate systems corresponding to each adjacent joint. Each joint is relative to the target...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/163
Inventor 张巍沈丽萍雷俊勇李明牛乾
Owner HANGZHOU SANTAN MEDICAL TECH
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