Serial robot motion control method and computer storage medium

A technology of robot motion and control method, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as low control efficiency and cumbersome solutions, and achieve the effect of improving real-time performance, reducing complexity, and avoiding multi-solution problems.

CN109648563AActive Publication Date: 2019-04-19NANJING UNIV OF POSTS & TELECOMM
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2019-04-19

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Abstract

The invention discloses a serial robot motion control method and a computer storage medium. The control method is achieved by controlling a robot to reach a target point location according to the information of tail-end point location of the robot and joint point location of the robot. The method includes the steps of (1), establishing a global coordinate system and determining target point location information; (2), obtaining the location information of the tail-end points and the joint points; (3), calculating angles information needed by each joint point; (4), controlling each joint motor to rotate towards the target direction by adopting a PID mode; (5), detecting if the distance between the tail-end and the target point reaches within the tolerance range or not, if yes, stopping rotating the motors, and if no, repeatedly carrying out the operations from step (2). Problems such as tedious solution and low control efficiency in a current robot control method are overcome, the complexity of operation and controlling is effectively reduced and the burden of a controller is relieved.
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Description

technical field

[0001] The invention relates to a motion control method of a serial robot and a computer storage medium, in particular to a motion control method of a serial robot based on joint position information perception and a computer storage medium. Background technique

[0002] At present, robots are widely used in all aspects of human production and life. With the popularity of robots, the performance requirements of robots are also getting higher and higher. The improvement of performance is mainly reflected in flexibility and rapidity. Existing robot control methods are often based on the D-H kinematics model, establishing kinematics matrix equations, and then separating the joint variables to solve them. The solution process of separating variables quickly becomes extremely complicated with the increase of degrees of freedom, and the calculation amount is huge, which cannot overcome the multi-solution problem, which seriously hinders the real-time performance o...

Examples

Embodiment Construction

[0038] In this embodiment, the three-degree-of-freedom series robot arm is taken as an example, and the point-position control of the robot is realized through the perception of joint position information. The specific implementation steps of this method are as follows figure 1 shown.

[0039] (1) Establish a global coordinate system:

[0040] (1.1) The three-dimensional global coordinate system of the series robot is established starting from the first joint point as the coordinate origin, the Z axis is perpendicular to the robot base upwards, the X axis and the Y axis are determined according to the right-hand rule, and the front view is formed by the Z axis and the Y axis floor plan;

[0041] (1.2) Determine its coordinates in the global coordinate system according to the position information of the target point (x o ,y o ,z o );

[0042] Such as figure 2 As shown, it is the initial pose graph and the global coordinate system of the established three-degree-of-freedo...