Mechanical arm control method and device, controller, robot and storage medium
By integrating force measurement data in multiple clamping positions based on the load force balance equation in the clamping state of the robot arm, the load target parameters are obtained, which solves the problem that traditional calibration methods cannot meet the efficient and precise operation control, and accurately controls the load when multiple robot arms are clamped.
CN120134322APending Publication Date: 2025-06-13UBTECH ROBOTICS CORP LTD
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Patent Information
- Application Number
- CN202510576411.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2025-06-13
AI Technical Summary
Technical Problem
The traditional calibration method of six-dimensional force sensor at the end of the robot arm can only identify the relevant parameters at the end of a single robot arm and cannot meet the needs of efficient and accurate operation and control.
Method used
In the clamped state of the robot arm, the force measurement data in multiple clamped positions are integrated based on the load force balance equation, the load target parameters are obtained, and the corresponding operations are controlled to perform the robot arm based on these parameters.
Benefits of technology
Accurate identification of load-related parameters when multiple robotic arms clamp the load is achieved, and the accuracy of robotic arms control and operation flexibility are improved.
✦ Generated by Eureka AI based on patent content.
Abstract
The invention relates to the field of mechanical arm control, and discloses a mechanical arm control method and device, a controller, a robot and a storage medium. The method comprises the steps that in response to force measurement data detected by six-dimensional force sensors located at the tail ends of mechanical arms when the mechanical arms are in different clamping poses, the force measurement data are calculated; carrying out data integration on the force measurement data under all the clamping poses based on a load stress balance equation under the clamping state of the mechanical arm so as to obtain load target parameters; and controlling an execution mechanism to execute corresponding operation based on the load target parameter. According to the method, load related parameters under the clamping of the mechanical arm can be identified, so that more accurate control is realized.
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