A mechanical arm control method and device for swing deviation and excavator

Abstract

The application discloses a mechanical arm control method and device for swing deviation and a excavator. The method comprises the following steps: calculating a first driving force of the mechanical arm according to a target point, a target speed and a target acceleration of the mechanical arm; obtaining a rotation parameter of a rotating device; wherein the rotation parameter represents rotation data of the rotating device; calculating a second driving force of the mechanical arm according to the rotation parameter of the rotating device and the first driving force; and driving a free end of the mechanical arm to reach the target point according to the second driving force. That is, the first driving force of the mechanical arm is calculated without considering the rotating work, then the influence of the rotating device on the mechanical arm is supplemented in combination with the rotation parameter of the rotating device, so that the second driving force is obtained and the free end of the mechanical arm is driven to reach the target point by the second driving force, thereby the control precision of the mechanical arm can be improved, and then the working precision and the working efficiency of the mechanical arm are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm control, in particular to a mechanical arm control method and device for rotation deviation and a excavator. BACKGROUND

[0002] Mechanical equipment such as excavators can use their mechanical arms to perform excavation and other tasks. However, to achieve the work of the mechanical arm, it is also necessary to control the mechanical arm (free end) to reach the target position to perform the corresponding mechanical work. According to the specific structure and working principle of the excavator, the model of the hydraulic system, transmission system, rotation system and other subsystems can be established and integrated into a complete excavator dynamics model. Excavator dynamics modeling can help engineers and designers better understand the motion and mechanical properties of the excavator, optimize the design and performance of the excavator, and improve the work efficiency and safety of the excavator.

[0003] Existing excavator dynamics modeling mostly considers the three degrees of freedom of the boom, stick and bucket excavation movement. However, there is a certain rotation misalignment error between the upper and lower cars of the actual excavator, which leads to significant differences between the rotation movement of the boom, stick and bucket obtained by modeling and the real excavator, and then leads to low control accuracy of the boom, stick and bucket. SUMMARY

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a mechanical arm control method and device for rotation deviation and a excavator, which solve the above technical problems.

[0005] According to one aspect of the present application, a mechanical arm control method for rotation deviation is provided, the mechanical arm comprising a plurality of branch arms, and the plurality of branch arms are arranged on a rotation device; the mechanical arm control method for rotation deviation comprises: calculating a first driving force of the mechanical arm according to a target point, a target speed and a target acceleration of the mechanical arm; wherein the target point represents a target position point reached by a free end of the mechanical arm, the target speed represents a moving speed of the free end of the mechanical arm to reach the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to reach the target point; obtaining a rotation parameter of the rotation device; wherein the rotation parameter represents rotation data of the rotation device; calculating a second driving force of the mechanical arm according to the rotation parameter of the rotation device and the first driving force; and driving the free end of the mechanical arm to reach the target point according to the second driving force.

[0006] In an embodiment, the calculating the second driving force of the manipulator according to the rotation parameter of the slewing device and the first driving force comprises: calculating a slewing interference force of the slewing device on the manipulator according to the rotation parameter of the slewing device; and calculating the second driving force of the manipulator according to the slewing interference force and the first driving force.

[0007] In an embodiment, the rotation parameter of the slewing device comprises a slewing angular velocity and a slewing angular acceleration; wherein the calculating the slewing interference force of the slewing device on the manipulator according to the rotation parameter of the slewing device comprises: constructing a slewing balance equation of the manipulator according to the slewing angular velocity and the slewing angular acceleration; and the calculating the second driving force of the manipulator according to the slewing interference force and the first driving force comprises: calculating the second driving force of the manipulator according to the slewing balance equation and the first driving force.

[0008] In an embodiment, the driving the free end of the manipulator to the target point according to the second driving force comprises: driving the free end of the manipulator to the target point as a feedforward compensation of the second driving force.

[0009] In an embodiment, before the calculating the first driving force of the manipulator according to the target point, the target velocity and the target acceleration of the manipulator, the manipulator control method for slewing deviation further comprises: obtaining the target point, the target velocity and the target acceleration of the manipulator; and calculating a target joint angle, a target joint angular velocity and a target joint angular acceleration of the manipulator according to the target point, the target velocity and the target acceleration of the manipulator; and the calculating the first driving force of the manipulator according to the target point, the target velocity and the target acceleration of the manipulator comprises: calculating the first driving force of the manipulator according to the target joint angle, the target joint angular velocity and the target joint angular acceleration of the manipulator.

[0010] In an embodiment, the driving the free end of the manipulator to the target point according to the second driving force comprises: calculating a joint angle difference between the target joint angle and the actual joint angle of the manipulator; and adjusting the actual joint angle of the manipulator based on the joint angle difference so that the joint angle difference is less than a preset value.

[0011] In an embodiment, the adjusting the actual joint angle of the manipulator based on the joint angle difference so that the joint angle difference is less than a preset value comprises: adjusting the actual joint angle of the manipulator based on the joint angle difference as an input of proportional-integral control so that the joint angle difference is less than a preset value.

[0012] In an embodiment, the calculating the first driving force of the mechanical arm according to the target point, the target velocity and the target acceleration of the mechanical arm comprises: constructing a translational balance equation and a rotational balance equation of the mechanical arm according to the target point, the target velocity and the target acceleration of the mechanical arm; and calculating the first driving force of the mechanical arm according to the translational balance equation and the rotational balance equation of the mechanical arm.

[0013] According to another aspect of the present application, there is provided a mechanical arm control device for swing deviation, the mechanical arm comprising a plurality of branch arms, and the plurality of branch arms being arranged on a swing device; the mechanical arm control device for swing deviation comprising: a first driving force calculation module, configured to calculate a first driving force of the mechanical arm according to a target point, a target velocity and a target acceleration of the mechanical arm; wherein the target point represents a target position point to be reached by a free end of the mechanical arm, the target velocity represents a moving velocity of the free end of the mechanical arm to reach the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to reach the target point; a rotational parameter acquisition module, configured to acquire a rotational parameter of the swing device; wherein the rotational parameter represents rotational data of the swing device; a second driving force calculation module, configured to calculate a second driving force of the mechanical arm according to the rotational parameter of the swing device and the first driving force; and a driving execution control module, configured to drive the free end of the mechanical arm to reach the target point according to the second driving force.

[0014] According to another aspect of the present application, there is provided a mechanical arm control device for swing deviation, the mechanical arm comprising a plurality of branch arms, and the plurality of branch arms being arranged on a swing device; the mechanical arm control device for swing deviation comprising: a first driving force calculation module, configured to calculate a first driving force of the mechanical arm according to a target point, a target velocity and a target acceleration of the mechanical arm; wherein the target point represents a target position point to be reached by a free end of the mechanical arm, the target velocity represents a moving velocity of the free end of the mechanical arm to reach the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to reach the target point; a rotational parameter acquisition module, configured to acquire a rotational parameter of the swing device; wherein the rotational parameter represents rotational data of the swing device; a second driving force calculation module, configured to calculate a second driving force of the mechanical arm according to the rotational parameter of the swing device and the first driving force; and a driving execution control module, configured to drive the free end of the mechanical arm to reach the target point according to the second driving force.

[0015] The application provides a mechanical arm control method and device for rotation deviation and a excavator. The first driving force of the mechanical arm is calculated according to a target point, a target speed and a target acceleration of the mechanical arm, wherein the target point represents a target position point reached by a free end of the mechanical arm, the target speed represents a moving speed of the free end of the mechanical arm to the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to the target point. The rotating parameter of the rotating device is obtained, wherein the rotating parameter represents the rotating data of the rotating device. The second driving force of the mechanical arm is calculated according to the rotating parameter of the rotating device and the first driving force. The free end of the mechanical arm is driven to reach the target point according to the second driving force. That is, the first driving force of the mechanical arm is calculated without considering the rotating work, and then the influence of the rotating device on the mechanical arm is supplemented according to the rotating parameter of the rotating device, so as to obtain the second driving force and drive the free end of the mechanical arm to reach the target point by the second driving force. Therefore, the control precision of the mechanical arm can be improved, and the working precision and the working efficiency of the mechanical arm are improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0017] Figure 1 FIG. 1 is a flowchart of a mechanical arm control method for rotation deviation according to an example embodiment of the present application.

[0018] Figure 2 FIG. 2 is a flowchart of a mechanical arm control method for rotation deviation according to another example embodiment of the present application.

[0019] Figure 3 FIG. 3 is a flowchart of a mechanical arm control method for rotation deviation according to another example embodiment of the present application.

[0020] Figure 4 FIG. 4 is a structure diagram of a movable component of a superstructure component according to an example embodiment of the present application.

[0021] Figure 5 FIG. 5 is a structure diagram of a boom structure parameter and force analysis according to an example embodiment of the present application.

[0022] Figure 6 FIG. 6 is a structure diagram of a stick structure parameter and force analysis according to an example embodiment of the present application.

[0023] Figure 7It is a structural schematic diagram of bucket structural parameters and force analysis provided by an exemplary embodiment of the present application.

[0024] Figure 8 It is a flowchart of a robotic arm control method for rotation deviation provided by another exemplary embodiment of the present application.

[0025] Figure 9 It is a flowchart of a robotic arm control method for rotation deviation provided by another exemplary embodiment of the present application.

[0026] Figure 10 It is a structural diagram of a feedforward PID control model provided by an exemplary embodiment of the present application.

[0027] Figure 11 It is a structural schematic diagram of a robotic arm control device for rotational deviation provided by an exemplary embodiment of the present application.

[0028] Figure 12 It is a structural schematic diagram of a robotic arm control device for rotational deviation provided by another exemplary embodiment of the present application.

[0029] Figure 13 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0030] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described herein.

[0031] The robotic arm described in the present application includes a multi-section arm, and the multi-section arm is arranged on a rotating device; specifically, taking an excavator as an example, an excavator is an engineering machinery used for excavation operations, mainly including a dismounting walking part and an onboard working part, wherein the onboard working part includes a robotic arm, specifically a boom, a dipper arm and a bucket, and the boom, dipper arm and bucket can move separately to enable the bucket at the end (free end) of the robotic arm to reach a specified position and perform an excavation action; and, the boom, dipper arm and bucket are arranged on a rotating device, and the boom, dipper arm and bucket can rotate relative to the dismounting walking part to realize the spatial rotation of the bucket.

[0032] Figure 1 FIG. 1 is a flow chart of a method for controlling a manipulator arm with respect to rotation deviation provided by an exemplary embodiment of the present application. Figure 1 As shown, the robot arm control method for rotation deviation includes the following steps:

[0033] Step 110: calculating the first driving force of the mechanical arm according to the target point, target speed and target acceleration of the mechanical arm.

[0034] Wherein, the target point represents the target position point reached by the free end of the mechanical arm, the target speed represents the moving speed of the free end of the mechanical arm to reach the target point, and the target acceleration represents the moving acceleration of the free end of the mechanical arm to reach the target point. Without considering the influence of the rotation of the slewing device on the mechanical arm, the first driving force of the mechanical arm, specifically the first driving force of each branch arm such as the boom, stick and bucket, is calculated according to the target point (i.e. target point coordinate value), target speed and target acceleration of the mechanical arm using Newton-Euler method.

[0035] Step 120: obtaining the rotation parameter of the slewing device.

[0036] Wherein, the rotation parameter represents the rotation data of the slewing device. The rotation parameter of the slewing device is obtained to know the influence of the slewing motion of the slewing device on the boom, stick and bucket, so as to more accurately control the motion of the boom, stick and bucket.

[0037] Step 130: calculating the second driving force of the mechanical arm according to the rotation parameter of the slewing device and the first driving force.

[0038] The second driving force is calculated by combining the rotation parameter of the slewing device and the first driving force, i.e. supplementing the influence of the force couple generated by the Coriolis force term, centrifugal force term and moment of inertia change of the slewing motion of the slewing device on the boom, stick and bucket, etc., so as to obtain more accurate second driving force.

[0039] Step 140: driving the free end of the mechanical arm to reach the target point according to the second driving force.

[0040] Each branch arm such as the boom, stick and bucket is driven based on the accurate second driving force to realize the bucket reaching the target point, so as to improve the accuracy and efficiency of intelligent control.

[0041] The application provides a mechanical arm control method for rotation deviation. The first driving force of the mechanical arm is calculated according to the target point, target speed and target acceleration of the mechanical arm. The target point represents the target position point reached by the free end of the mechanical arm, the target speed represents the moving speed of the free end of the mechanical arm to the target point, and the target acceleration represents the moving acceleration of the free end of the mechanical arm to the target point. The rotation parameter of the rotating device is obtained. The rotation parameter represents the rotation data of the rotating device. The second driving force of the mechanical arm is calculated according to the rotation parameter of the rotating device and the first driving force. The free end of the mechanical arm is driven to reach the target point according to the second driving force. That is, the first driving force of the mechanical arm is calculated without considering the rotation work, and then the influence of the rotating device on the mechanical arm is supplemented in combination with the rotation parameter of the rotating device to obtain the second driving force and drive the free end of the mechanical arm to reach the target point, so that the control accuracy of the mechanical arm can be improved, and then the working accuracy and working efficiency of the mechanical arm can be improved.

[0042] Figure 2 is a flowchart of a mechanical arm control method for rotation deviation provided by another exemplary embodiment of the application. As shown in Figure 2 Before step 110, the above-mentioned mechanical arm control method for rotation deviation can further include:

[0043] Step 150: obtaining the target point, target speed and target acceleration of the mechanical arm.

[0044] Specifically, the coordinate information of the target point (for example, the coordinate origin of the coordinate system of the fixed end point of the mechanical arm) can be obtained through an angle sensor (or a cylinder displacement sensor, an IMU, a rotary encoder or the like), and the movement speed (target speed) and acceleration (target acceleration) of the boom, dipper stick and dipper of the free end of the mechanical arm in the process of reaching the target point can be calculated based on the target point.

[0045] Step 160: calculating the target joint angle, target joint angular velocity and target joint angular acceleration of the mechanical arm according to the target point, target speed and target acceleration of the mechanical arm.

[0046] Specifically, the cylinder length and real-time digging posture of the excavator, that is, the target joint angle, target joint angular velocity and target joint angular acceleration of the mechanical arm can be calculated according to the target point, target speed and target acceleration through inverse kinematics conversion.

[0047] Correspondingly, step 110 can include:

[0048] Step 111: calculating the first driving force of the mechanical arm according to the target joint angle, target joint angular velocity and target joint angular acceleration of the mechanical arm.

[0049] After the target joint angle, target joint angular velocity and target joint angular acceleration of the boom, stick and bucket are calculated, the first driving force of the boom, stick and bucket is calculated according to the target joint angle, target joint angular velocity and target joint angular acceleration of the boom, stick and bucket respectively.

[0050] Figure 3 is a flowchart of a mechanical arm control method for swing deviation according to another example embodiment of the present application. As shown in Figure 3 , the step 110 can include:

[0051] Step 112: constructing the translational balance equation and rotational balance equation of the mechanical arm according to the target point, target velocity and target acceleration of the mechanical arm.

[0052] Specifically, the upper part of the excavator is defined as 12 movable components in the present application, as shown in Figure 4 , component 1 is the upper platform, component 2 is the boom cylinder barrel, component 3 is the boom cylinder rod, component 4 is the boom, component 5 is the stick cylinder barrel, component 6 is the stick cylinder rod, component 7 is the stick, component 8 is the bucket cylinder barrel, component 9 is the bucket cylinder rod, component 10 is the around rod, component 11 is the connecting rod, and component 12 is the bucket. The present application is uniformly named as follows: F ijk , (i, j = 1 ~ 12; k = x, y) represents the force of component i on component j in the k direction, and F 74x , for example, F 74x represents the x-direction force of component 7 on component 4; r 74 represents the position vector length from the hinge point of component 4 and component 7 to the rotational hinge point, and θ 74 is the angle between the position vector from the hinge point of component 4 and component 7 to the rotational hinge point and the horizontal direction, and the counterclockwise direction is positive. In addition, r 4c , θ 4c represent the position vector length and angle from the centroid position of component 4 to the rotational hinge point, a 4x , a 4y , α4 represent the horizontal, vertical acceleration and angular acceleration of the centroid of component 4.

[0053] As shown in Figure 5 , the force analysis of the boom shows that its translational balance equation and rotational balance equation are respectively:

[0054] F 74x +F 54x +F 34x +F 14x =m4a 4x ;

[0055] F 74y +F 54y +F34y +F 14y -G4=m4a 4y ;

[0056] F 34y ·r 34 ·cosθ 34 -F 34x ·r 34 ·sinθ 34 -G4·r 4c ·cosθ 4c -F 54x ·r 54 ·sinθ 54

[0057] +F 54y ·r 54 ·cosθ 54 -F 74x ·r 74 ·sinθ 74 +F 74y ·r 74 ·cosθ 74 =J4·α4

[0058] Wherein, m4 is the weight of component 4, G4 is the gravity of component 4, J4 is the moment of inertia of component 4.

[0059] As shown in Figure 6 , the force analysis is carried out on the dipper arm, since F 74x and F 47x are equal and opposite interaction forces, F 74x is still used in the force analysis of the dipper arm, in addition, since the root pin shaft (point B) of the dipper arm also moves with the boom, the inertia moment of the rotating reference point is supplemented, then the translational balance equation and the rotational balance equation of the dipper arm are respectively:

[0060] -F 74x +F 67x +F 87x +F 10,7x +F 12,7x = m7a 7x ;

[0061] -F 74y +F 67y +F 87y +F 10,7y +F 12,7y -G7=m7a 7y ;

[0062]

[0063] Wherein, m7 is the weight of the component 7, G7 is the gravity of the component 7, J7 is the moment of inertia of the component 7, is the second derivative of x, B B is the second derivative of y. B B

[0064] As Figure 7 shown, the force analysis of the bucket is carried out. Since the root pin (point C) of the bucket also moves with the arm, the inertia moment of the rotating reference point is added. Then, the translational balance equation and the rotational balance equation of the bucket are as follows:

[0065] -F 12,7x +F 11,12x =m 12 a 12x ;

[0066]

[0067] Wherein, m 12 is the weight of the component 12, G 12 is the gravity of the component 12, J 12 is the moment of inertia of the component 12, is the second derivative of x, C is the second derivative of y. C

[0068] Step 113: calculating the first driving force of the mechanical arm according to the translational balance equation and the rotational balance equation of the mechanical arm.

[0069] According to the translational balance equation and the rotational balance equation of the movable arm, the arm and the bucket, the first driving force of the movable arm, the arm and the bucket is calculated.

[0070] Figure 8 is a flowchart of a mechanical arm control method for swing deviation provided by another exemplary embodiment of the present application. As Figure 8 shown, the above step 130 can include:

[0071] Step 131: calculating the swing interference force of the swing device on the mechanical arm according to the rotational parameters of the swing device.

[0072] ​​The rotation speed parameters of the rotating device include a rotation angular velocity and a rotation angular acceleration. Specifically, the specific implementation of step 131 can be: constructing a rotation balance equation of the mechanical arm according to the rotation angular velocity and the rotation angular acceleration. After obtaining the rotation parameters of the rotating device, the application supplements the influence of the rotation motion on each component in the working device according to the rotation parameters of the rotating device. Specifically, for the rotation of the superstructure component (mechanical arm), first, define the rotation angle of the superstructure component around the vertical direction as θ0, and define the counterclockwise direction as positive, define the rotation motor driving torque as M Q , and define the counterclockwise direction as positive. Correspondingly, the angular velocity and the angular acceleration of the rotation of the superstructure component are represented by respectively. Then, the rotation balance equation of the mechanical arm is:

[0073]

[0074] wherein, x ic respectively represent the x-direction displacement and the velocity of the mass center of the component i. J iY (θ i )、 respectively represent the rotation inertia function and the rotation inertia change rate function of the component i around the y-axis at the mass center. The rotation inertia of each component in the working device around the y-axis is related to the angle between the component and the horizontal plane, and J1 represents the rotation inertia of the superstructure platform, which does not change with the position during the rotation of the superstructure.

[0075] In addition, considering the non-coincidence error of the rotation center and the origin of the original coordinate system as Δx, in order to further improve the control accuracy, the application supplements the influence of this item in the rotation balance equation, establishes a mathematical equation, and considers the non-coincidence error of the rotation center and the working device plane as Δz, supplements the influence of the inertial force in the working device in the rotation balance equation, and then the rotation balance equation is rewritten as:

[0076]

[0077] Step 132: calculating the second driving force of the mechanical arm according to the rotation interference force and the first driving force.

[0078] In an embodiment, the specific implementation of step 132 can be: calculating the second driving force of the mechanical arm according to the rotation balance equation and the first driving force. Specifically, the influence of the rotation motion of the superstructure component on each component in the working device includes the influence of translation and rotation. The centrifugal force generated by the rotation motion of the working device influences the original x-direction translation balance equation and the rotation balance equation, and the force couple influences the rotation balance equation. Therefore, for the boom, the dipper and the bucket, the new balance equation is established as follows on the basis of the original translation balance equation and the rotation balance equation:

[0079] The translation equations of the boom in translation and rotation are rewritten as:

[0080]

[0081] The translation equations of the arm in translation and rotation are rewritten as:

[0082]

[0083] The translation equations of the bucket in translation and rotation are rewritten as:

[0084]

[0085] By simultaneously solving the translation equations and rotation equations of the boom, the arm and the bucket, the overall four-degree-of-freedom dynamic model is obtained:

[0086]

[0087] where ΔX and ΔZ are the errors in the x and z directions, respectively, FQ1, FQ2 and FQ3 are the driving forces of the boom cylinder, the arm cylinder and the bucket cylinder, respectively, and FL1, FL2 and FL3 are the length functions of the boom cylinder, the arm cylinder and the bucket cylinder, respectively.

[0088] The simplified form in matrix form is:

[0089]

[0090] where D(θ) is the inertia matrix, is the centrifugal force, Coriolis force and force couple influence matrix, G(θ) is the gravity matrix, and Γ(θ) is the generalized force matrix.

[0091] Figure 9 is a flowchart of a mechanical arm control method for swing deviation according to another example embodiment of the present application. As Figure 9 shown, the above step 140 can include:

[0092] Step 141: driving the free end of the mechanical arm to the target point as a feedforward compensation.

[0093] In the process of controlling mechanical movement, due to the existence of external disturbance, open-loop control often cannot control the excavator to move to the ideal position (target point), so PID negative feedback controller is often used for closed-loop control in industry. This control can directly offset small environmental disturbances, but it is difficult to eliminate large system disturbances at one time, and the PID control system has a certain lag in response, so the present application constructs a controller composed of "PID feedback control + feedforward control based on system model". Specifically, as Figure 10As shown, after the second driving force is calculated in the above manner, the second driving force is taken as the control amount of the feedforward controller based on the system model, i.e., the second driving force is taken as the feedforward input, so as to control according to the size of the disturbance (i.e., the second driving force) before the controlled variable changes after the disturbance occurs, so as to compensate for the influence of the disturbance on the controlled variable.

[0094] Specifically, the feedforward control (the second driving force) in the present application is:

[0095]

[0096] In an embodiment, as shown in Figure 9 The step 140 can further include:

[0097] Step 142: Calculate the joint angle difference between the target joint angle and the actual joint angle of the robot arm.

[0098] Step 143: Adjust the actual joint angle of the robot arm based on the joint angle difference, so that the joint angle difference is less than a preset value.

[0099] Specifically, the joint angle difference is taken as the input quantity of the proportional-integral control, and the actual joint angle of the robot arm is adjusted so that the joint angle difference is less than a preset value.

[0100] Specifically, the PID control in the present application is:

[0101]

[0102] Wherein, K P , K I , K D are parameters of the PID controller. Error(t) is the error between the actual and the target.

[0103] In combination with the above feedforward control, the overall PID feedforward control is:

[0104]

[0105] Discretization and incremental form can be expressed as:

[0106]

[0107] Figure 11 is a structural schematic diagram of a robot arm control device for rotation deviation provided by an exemplary embodiment of the present application. The robot arm includes multiple sections of arms, and the multiple sections of arms are arranged on a rotating device; as Figure 11As shown, the mechanical arm control device 90 for rotation deviation comprises: a first driving force calculation module 91, configured to calculate a first driving force of the mechanical arm according to a target point, a target speed and a target acceleration of the mechanical arm; wherein the target point represents a target position point reached by a free end of the mechanical arm, the target speed represents a moving speed of the free end of the mechanical arm to the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to the target point; a rotation parameter acquisition module 92, configured to acquire a rotation parameter of the rotation device; wherein the rotation parameter represents rotation data of the rotation device; a second driving force calculation module 93, configured to calculate a second driving force of the mechanical arm according to the rotation parameter of the rotation device and the first driving force; and a driving execution control module 94, configured to drive the free end of the mechanical arm to reach the target point according to the second driving force.

[0108] The mechanical arm control device for rotation deviation provided by the present application calculates the first driving force of the mechanical arm according to the target point, the target speed and the target acceleration of the mechanical arm through the first driving force calculation module 91; wherein the target point represents the target position point reached by the free end of the mechanical arm, the target speed represents the moving speed of the free end of the mechanical arm to the target point, and the target acceleration represents the moving acceleration of the free end of the mechanical arm to the target point; the rotation parameter acquisition module 92 acquires the rotation parameter of the rotation device; wherein the rotation parameter represents the rotation data of the rotation device; the second driving force calculation module 93 calculates the second driving force of the mechanical arm according to the rotation parameter of the rotation device and the first driving force; and the driving execution control module 94 drives the free end of the mechanical arm to reach the target point according to the second driving force; that is, the first driving force of the mechanical arm is calculated without considering the rotation work, then the influence of the rotation device on the mechanical arm is supplemented in combination with the rotation parameter of the rotation device to obtain the second driving force and drive the free end of the mechanical arm to reach the target point by the second driving force, so that the control precision of the mechanical arm can be improved, and then the working precision and the working efficiency of the mechanical arm are improved.

[0109] Figure 12 is a structural schematic diagram of a mechanical arm control device for rotation deviation provided by another exemplary embodiment of the present application. As shown in the figure, Figure 12 The mechanical arm control device 90 for rotation deviation can further comprise: a target acquisition module 95, configured to acquire the target point, the target speed and the target acceleration of the mechanical arm; and a joint angle calculation module 96, configured to calculate a target joint angle, a target joint angular speed and a target joint angular acceleration of the mechanical arm according to the target point, the target speed and the target acceleration of the mechanical arm. Correspondingly, the first driving force calculation module 91 can be further configured to calculate the first driving force of the mechanical arm according to the target joint angle, the target joint angular speed and the target joint angular acceleration of the mechanical arm.

[0110] In an embodiment, the first driving force calculation module 91 can be further configured to: construct a translational balance equation and a rotational balance equation of the mechanical arm according to the target point, the target speed and the target acceleration of the mechanical arm; and calculate the first driving force of the mechanical arm according to the translational balance equation and the rotational balance equation of the mechanical arm.

[0111] In an embodiment, the second driving force calculation module 93 can be further configured to: calculate a rotational interference force of the slewing device on the mechanical arm according to the rotational parameters of the slewing device, wherein the rotational parameters of the slewing device include a rotational angular velocity and a rotational angular acceleration; and calculate the second driving force of the mechanical arm according to the rotational interference force and the first driving force.

[0112] In an embodiment, the second driving force calculation module 93 can be further configured to: construct a rotational balance equation of the mechanical arm according to the rotational angular velocity and the rotational angular acceleration; and calculate the second driving force of the mechanical arm according to the rotational balance equation and the first driving force.

[0113] In an embodiment, the driving execution control module 94 can be further configured to: drive the free end of the mechanical arm to reach the target point by taking the second driving force as a feedforward compensation.

[0114] In an embodiment, the driving execution control module 94 can be further configured to: calculate a joint angle difference between the target joint angle and the actual joint angle of the mechanical arm; and adjust the actual joint angle of the mechanical arm based on the joint angle difference so that the joint angle difference is less than a preset value.

[0115] The application also provides a mechanical arm, which comprises a mechanical arm body, a slewing device, a mechanical arm, and a mechanical arm control device for slewing deviation as described above; wherein the slewing device is arranged on the mechanical arm body, and the mechanical arm comprises a plurality of branch arms, and the plurality of branch arms are arranged on the slewing device.

[0116] The application provides a mechanical arm, which calculates a first driving force of the mechanical arm according to a target point, a target speed and a target acceleration of the mechanical arm; wherein the target point represents a target position point reached by a free end of the mechanical arm, the target speed represents a moving speed of the free end of the mechanical arm to the target point, and the target acceleration represents a moving acceleration of the free end of the mechanical arm to the target point; obtains rotational parameters of a slewing device; wherein the rotational parameters represent rotational data of the slewing device; calculates a second driving force of the mechanical arm according to the rotational parameters of the slewing device and the first driving force; and drives the free end of the mechanical arm to reach the target point according to the second driving force; that is, the first driving force of the mechanical arm is calculated without considering the slewing work, then the influence of the slewing device on the mechanical arm is supplemented in combination with the rotational parameters of the slewing device to obtain the second driving force and drive the free end of the mechanical arm to reach the target point by using the second driving force, so that the control precision of the mechanical arm can be improved, and then the working precision and the working efficiency of the mechanical arm can be improved.

[0117] Below, an electronic device according to embodiments of the present application will be described with reference to Figure 13 The electronic device can be either one or both of the first and second devices, or a stand-alone device independent of them, which can communicate with the first and second devices to receive the acquired input signals therefrom.

[0118] Figure 13 A block diagram of an electronic device according to embodiments of the present application is illustrated.

[0119] As Figure 13 shown, the electronic device 100 includes one or more processors 101 and a memory 102.

[0120] The processor 101 can be a central processing unit (CPU) or other form of processing unit having data processing and / or instruction execution capabilities, and can control other components in the electronic device 100 to perform desired functions.

[0121] The memory 102 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer-readable storage media, which the processor 101 can execute to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer-readable storage media.

[0122] In one example, the electronic device 100 can further include an input device 103 and an output device 104, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0123] When the electronic device is a stand-alone device, the input device 103 can be a communication network connector for receiving the acquired input signals from the first and second devices.

[0124] In addition, the input device 103 can further include, for example, a keyboard, a mouse, and the like.

[0125] The output device 104 can output various information including the determined distance information, direction information, and the like, to the outside. The output device 104 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0126] Of course, for simplicity, Figure 13 Only some of the components of the electronic device 100 related to the present application are shown in FIG. 1, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 100 can include any other appropriate components according to a specific application.

[0127] The computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, etc., and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's device and partly on a remote computing device or entirely on the remote computing device or server.

[0128] The computer readable storage medium can be any combination of one or more non-transitory computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] The above description is given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling a robotic arm with respect to rotational deviation, characterized in that: The robotic arm comprises a multi-section support arm, and the multi-section support arm is arranged on a rotary device; The robotic arm control method for rotation deviation includes: Calculating a first driving force of the robotic arm based on a target point, a target speed, and a target acceleration of the robotic arm; wherein the target point represents a target position point reached by the free end of the robotic arm, the target speed represents a moving speed of the free end of the robotic arm to reach the target point, and the target acceleration represents a moving acceleration of the free end of the robotic arm to reach the target point; Acquiring a rotation parameter of the rotary device; wherein the rotation parameter represents the rotation data of the rotary device; calculating a second driving force of the robotic arm according to the rotation parameter of the rotary device and the first driving force; and driving the free end of the robotic arm to reach the target point according to the second driving force; The calculating the second driving force of the robotic arm according to the rotation parameter of the rotary device and the first driving force includes: Calculating the rotational interference force of the rotating device on the robotic arm according to the rotation parameters of the rotating device; and calculating a second driving force of the robotic arm according to the rotation interference force and the first driving force; The rotation speed parameters of the rotary device include a rotational angular velocity and a rotational angular acceleration; wherein, calculating the rotational interference force of the rotary device on the robotic arm based on the rotation parameters of the rotary device includes: Constructing a rotational equilibrium equation of the robotic arm according to the rotational angular velocity and the rotational angular acceleration; Calculating the second driving force of the robotic arm according to the rotation interference force and the first driving force includes: A second driving force of the robotic arm is calculated according to the rotational balance equation and the first driving force.

2. The method for controlling a robotic arm against rotational deviation according to claim 1, wherein: The step of driving the free end of the robotic arm to reach the target point according to the second driving force includes: The second driving force is used as feedforward compensation to drive the free end of the robotic arm to reach the target point.

3. The robot arm control method for rotation deviation according to claim 1, characterized in that: Before calculating the first driving force of the robotic arm according to the target point, target speed, and target acceleration of the robotic arm, the robotic arm control method for rotation deviation further includes: Obtaining a target point, a target velocity, and a target acceleration of the robotic arm; and Calculating a target joint angle, a target joint angular velocity, and a target joint angular acceleration of the robotic arm according to the target point, target velocity, and target acceleration of the robotic arm; Calculating the first driving force of the robotic arm according to the target point, target speed, and target acceleration of the robotic arm includes: A first driving force of the robotic arm is calculated according to the target joint angle, target joint angular velocity, and target joint angular acceleration of the robotic arm.

4. The method for controlling a robotic arm against rotational deviation according to claim 3, wherein: The step of driving the free end of the robotic arm to reach the target point according to the second driving force includes: calculating a joint angle difference between a target joint angle and an actual joint angle of the robotic arm; and Based on the difference in the joint angles, the actual joint angle of the robotic arm is adjusted so that the difference in the joint angles is less than a preset value.

5. The method for controlling a robotic arm against rotational deviation according to claim 4, wherein: The adjusting the actual joint angle of the robotic arm based on the difference in the joint angles so that the difference in the joint angles is less than a preset value includes: The difference in the joint angles is used as an input of proportional-integral control to adjust the actual joint angles of the robotic arm so that the difference in the joint angles is less than a preset value.

6. The method for controlling a robotic arm against rotational deviation according to claim 1, wherein: Calculating the first driving force of the robotic arm according to the target point, target speed, and target acceleration of the robotic arm includes: constructing a translational equilibrium equation and a rotational equilibrium equation of the robotic arm according to the target point, target velocity, and target acceleration of the robotic arm; and A first driving force of the robotic arm is calculated according to a translational balance equation and a rotational balance equation of the robotic arm.

7. A robotic arm control device for rotation deviation, characterized in that: The robotic arm comprises a multi-section support arm, and the multi-section support arm is arranged on a rotary device; The robotic arm control device for rotation deviation includes: a first driving force calculation module, configured to calculate a first driving force of the robotic arm based on a target point, a target speed, and a target acceleration of the robotic arm; wherein the target point represents a target position point reached by the free end of the robotic arm, the target speed represents a moving speed of the free end of the robotic arm to reach the target point, and the target acceleration represents a moving acceleration of the free end of the robotic arm to reach the target point; A rotation parameter acquisition module, configured to acquire the rotation parameters of the rotary device; wherein the rotation parameters represent the rotation data of the rotary device; a second driving force calculation module, configured to calculate a second driving force of the robotic arm according to the rotation parameter of the rotary device and the first driving force; and a driving execution control module, configured to drive the free end of the robotic arm to reach the target point according to the second driving force; The calculating the second driving force of the robotic arm according to the rotation parameter of the rotary device and the first driving force includes: Calculating the rotational interference force of the rotating device on the robotic arm according to the rotation parameters of the rotating device; and calculating a second driving force of the robotic arm according to the rotation interference force and the first driving force; The rotation speed parameters of the rotary device include a rotational angular velocity and a rotational angular acceleration; wherein, calculating the rotational interference force of the rotary device on the robotic arm based on the rotation parameters of the rotary device includes: Constructing a rotational equilibrium equation of the robotic arm according to the rotational angular velocity and the rotational angular acceleration; Calculating the second driving force of the robotic arm according to the rotation interference force and the first driving force includes: A second driving force of the robotic arm is calculated according to the rotational balance equation and the first driving force.

8. An excavator, characterized in that: include: Excavator body; A slewing device, the slewing device being arranged on the excavator body; a robotic arm, the robotic arm comprising a multi-section support arm, and the multi-section support arm is disposed on the rotary device; and The robot arm control device for rotational deviation as claimed in claim 7.

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