Mechanical arm control system and equipment
By acquiring the vibration acceleration of the end effector of the robotic arm, determining the processing stage, and setting an appropriate feed rate, the problem of balancing safety and efficiency in robotic arm feed rate is solved, achieving safe and efficient drilling processing.
CN120901932APending Publication Date: 2025-11-07BEIJING NATONG MEDICAL ROBOT TECH CO LTD
Patent Information
- Application Number
- CN202510826946.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-19
- Publication Date
- 2025-11-07
Smart Images
Figure CN120901932A_ABST
Abstract
The invention relates to a mechanical arm control system and equipment. The mechanical arm control system comprises an acceleration acquisition module used for acquiring the vibration acceleration of an end effector when the end effector drills a target object; the stage determination module is used for determining a current processing stage according to the multiple harmonic amplitude of the vibration acceleration; wherein the frequency corresponding to the multiple harmonic amplitude is an integral multiple greater than 1 of the rotation frequency of the end effector; the speed determining module is used for determining the target feeding speed of the end effector according to the first harmonic amplitude of the vibration acceleration if the current processing stage belongs to the drilling stage; and the control module is used for performing motion control on the target mechanical arm carrying the end effector according to the target feeding speed. Therefore, according to the first harmonic amplitude of the vibration acceleration, the feeding speed matched with the current stage is set, the drilling processing safety is guaranteed, and meanwhile the drilling processing efficiency is improved.
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Citation Information
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