Control method and system of manipulator and manipulator

Abstract

The embodiment of the invention discloses a manipulator control method and system and a manipulator. The control system of the manipulator comprises a left rocker, a right rocker and a controller, the left rocker and the right rocker are both in communication connection with the controller, and the control method is executed by the controller. The control method comprises the following steps: receiving a signal transmitted by a left rocker and a signal transmitted by a right rocker; determining a target position of the manipulator and controlling the manipulator to move to the target position according to the signal transmitted by the left rocker and the signal transmitted by the right rocker and based on a preset reference position of the manipulator; and the signal transmitted again by the left rocker is received, and the rotation angle of the clamping jaw of the manipulator at the target position is controlled according to the signal transmitted again by the left rocker, so that the clamping jaw of the manipulator rotates to the target angle at the target position. According to the manipulator control method and system and the manipulator provided by the embodiment of the invention, the control reliability can be ensured.

Description

Technical Field

[0001] The embodiments of the present invention relate to automatic control technology, and more particularly to a control method, system and robotic arm for a robotic arm. Background Technology

[0002] A robotic arm is an automated device that can mimic certain movements of a human hand or arm to grasp, move objects, or operate tools according to a fixed program, and requires reliable control. Currently, existing robotic arm control methods suffer from reliability issues. Summary of the Invention

[0003] This invention provides a control method, system, and robot for a robotic arm to ensure control reliability.

[0004] In a first aspect, embodiments of the present invention provide a control method for a robotic arm. The control system of the robotic arm includes a left joystick, a right joystick, and a controller. The left joystick and the right joystick are both communicatively connected to the controller, and the control method is executed by the controller. The control method includes:

[0005] Receive signals transmitted by the left joystick and signals transmitted by the right joystick;

[0006] Based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the manipulator, the target position of the manipulator is determined and the manipulator is controlled to move to the target position;

[0007] The system receives the signal transmitted again by the left joystick and controls the rotation angle of the gripper of the robotic arm at the target position according to the signal transmitted again by the left joystick, so that the gripper of the robotic arm rotates to the target angle at the target position.

[0008] Optionally, determining the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on a preset reference position of the robotic arm, includes:

[0009] Based on the signals transmitted by the left joystick and the right joystick, determine the direction and distance of the left joystick's movement, as well as the direction and distance of the right joystick's movement.

[0010] Based on the direction and distance of the left joystick's movement, the direction and distance of the right joystick's movement, and the preset reference position of the robotic arm, the target position of the robotic arm is determined.

[0011] Optionally, determining the target position of the robotic arm based on the swing direction and forward / backward swing distance of the left joystick and the swing direction and swing distance of the right joystick, and based on a preset reference position of the robotic arm, includes:

[0012] Based on the mapping relationship between the swing direction and forward / backward swing distance of the left joystick, the swing direction and swing distance of the right joystick, and the movement direction and movement distance of the robotic arm, and based on the preset reference position of the robotic arm, the target position of the robotic arm is determined.

[0013] Optionally, the mapping relationship is a linear relationship.

[0014] Optionally, controlling the rotation angle of the gripper of the robotic arm at the target position based on the signal transmitted again by the left joystick includes:

[0015] The left and right swing distance of the left joystick is determined based on the signal transmitted again by the left joystick.

[0016] Based on the mapping relationship between the left and right swing distance of the left joystick and the rotation angle of the gripper of the robot, the required rotation angle of the gripper of the robot is determined so as to control the gripper of the robot to rotate to the target angle.

[0017] Optionally, before determining the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robotic arm, the following steps are included:

[0018] If the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the closure of the gripper of the robotic arm, then control the gripper of the robotic arm to close.

[0019] If the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the gripper of the robotic arm being released, then the gripper of the robotic arm is controlled to be released.

[0020] Optionally, the left and right rocking of the left joystick corresponds to the rotation of the gripper of the robotic arm, and the left joystick rocking back and forth corresponds to the up and down movement of the robotic arm in three-dimensional space.

[0021] Secondly, embodiments of the present invention provide a control system for a robotic arm, comprising: a left joystick, a right joystick, and a controller, wherein the left joystick and the right joystick are communicatively connected to the controller; the controller is used to execute the control method for the robotic arm as described in the first aspect.

[0022] Optionally, both the left and right joysticks are equipped with buttons, magnets, and magnetic non-contact rotation angle sensors.

[0023] Thirdly, embodiments of the present invention provide a robotic arm, to which the control method described in the first aspect is applied.

[0024] The present invention provides a control method, system, and robot for a robotic arm. The control system of the robotic arm includes a left joystick, a right joystick, and a controller. Both the left and right joysticks are communicatively connected to the controller, and the control method is executed by the controller. The control method includes: receiving signals transmitted by the left joystick and the right joystick; determining the target position of the robotic arm based on the signals transmitted by the left and right joysticks and a preset reference position of the robotic arm, and controlling the robotic arm to move to the target position; receiving a signal transmitted again by the left joystick, and controlling the rotation angle of the gripper of the robotic arm at the target position based on the signal transmitted again by the left joystick, so that the gripper of the robotic arm rotates to the target angle at the target position. The control method, system, and robot provided in this invention determine the target position of the robot based on the signals transmitted by the left and right joysticks and the preset reference position of the robot, and control the robot to move to the target position. Then, based on the signal transmitted again by the left joystick, the rotation angle of the gripper of the robot at the target position is controlled so that the gripper of the robot rotates to the target angle at the target position, thereby ensuring that the robot can grasp at the target position and target angle and ensuring control reliability. Attached Figure Description

[0025] Figure 1 This is a flowchart of a control method for a robotic arm provided in Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of the rocker arm's rocking direction and distance according to Embodiment 1 of the present invention;

[0027] Figure 3 This is a schematic diagram of the movement direction and distance of a robotic arm provided in Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of another robotic arm movement direction and distance provided in Embodiment 1 of the present invention;

[0029] Figure 5 This is a flowchart of a control method for a robotic arm provided in Embodiment 2 of the present invention;

[0030] Figure 6 This is a schematic diagram of a mapping relationship provided in Embodiment 2 of the present invention;

[0031] Figure 7 This is a schematic diagram of the movement direction and distance of a robotic arm provided in Embodiment 2 of the present invention;

[0032] Figure 8This is a flowchart of another control method for a robotic arm provided in Embodiment 2 of the present invention;

[0033] Figure 9 This is a structural block diagram of a control system for a robotic arm provided in Embodiment 3 of the present invention;

[0034] Figure 10 This is a schematic diagram of a magnet and a sensor provided in Embodiment 3 of the present invention;

[0035] Figure 11 This is a schematic diagram of a magnet rotation angle provided in Embodiment 3 of the present invention;

[0036] Figure 12 This is a schematic diagram of a rocker bottom structure provided in Embodiment 3 of the present invention.

[0037] Figure 13 This is a schematic diagram of an output voltage and rotation angle provided in Embodiment 3 of the present invention;

[0038] Figure 14 This is a structural block diagram of a control device for a robotic arm provided in Embodiment 3 of the present invention;

[0039] Figure 15 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0041] Example 1

[0042] Figure 1 This is a flowchart of a control method for a robotic arm provided in Embodiment 1 of the present invention. This embodiment can be applied to controlling robotic arms, etc. The control system of the robotic arm includes: a left joystick, a right joystick, and a controller. Both the left and right joysticks are communicatively connected to the controller. The control method of the robotic arm is executed by the controller, which can be implemented in software and / or hardware. The method specifically includes the following steps:

[0043] Step 110: Receive the signals transmitted by the left joystick and the right joystick.

[0044] The signals transmitted by the left and right joysticks can be voltage signals transmitted during their own shaking. These voltage signals can be converted into information about the shaking motion, such as the distance and direction of the shaking. For example, in a six-axis robotic arm, left-right shaking of the left joystick corresponds to the rotation of the gripper, forward-backward shaking of the left joystick corresponds to the vertical movement of the robotic arm in three-dimensional space, and forward-backward and left-right shaking of the right joystick corresponds to the horizontal and vertical movement of the robotic arm in three-dimensional space.

[0045] Furthermore, a magnet and a magnetic non-contact rotation angle sensor are fixed to the bottom of the joystick's swinging part, with the magnet located directly above the sensor. The sensor converts the joystick's swing angle from 0° to 120° into an analog voltage output of 0V to 5V. Since the joystick can swing back and forth as well as left and right, two sensors are needed to be installed at the bottom of the joystick in order to capture the angles during both swings. The two sensors are orthogonally positioned, and the sensors convert the collected angle values ​​into 0V to 5V analog voltage signals, which are then transmitted to the controller. For example, Figure 2 This is a schematic diagram illustrating the rocker arm's rocking direction and distance according to Embodiment 1 of the present invention. (Reference) Figure 2 The joystick can move to any point on the inscribed circle BDFH of the square ACEG, and to any point within the inscribed circle. The joystick transmits two analog signals, each output from one of the joystick's two sensors. One sensor outputs a signal corresponding to left-right movement, and the other sensor outputs a signal corresponding to forward-backward movement. Before any movement, the joystick is in a... Figure 2 At the center point O1 of the square, the voltages of the two analog signals of the joystick are 2.5V and 2.5V respectively. When the joystick moves to the left to point H, the voltages of the two analog signals are 0V and 2.5V respectively. When the joystick moves to the right to point D, the voltages of the two analog signals are 5V and 2.5V respectively. When the joystick moves backward to point B, the voltages of the two analog signals are 2.5V and 0V respectively. When the joystick moves forward to point F, the voltages of the two analog signals are 2.5V and 5V respectively. During the movement (shaking) of the joystick, the voltages of the analog signals are different depending on the position of the joystick.

[0046] Step 120: Based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robot arm, determine the target position of the robot arm and control the robot arm to move to the target position.

[0047] Specifically, the voltage of the signals transmitted by the left and right joysticks, after correction and amplification, can be used to obtain the distance and direction that the robot arm needs to move. Based on the robot arm's preset reference position, the target position of the robot arm can be determined from the distance and direction that the robot arm needs to move. For example, Figure 3This is a schematic diagram illustrating the movement direction and distance of a robotic arm according to Embodiment 1 of the present invention. (Reference) Figure 3 The robotic arm selects point a (x1-X, y1-Y) as a preset reference position in its two-dimensional Cartesian coordinate system. When the joystick is not moved, its two analog outputs (2.5V, 2.5V) represent the X and Y direction values ​​of the point reached by the robotic arm in the two-dimensional Cartesian coordinate system, such as... Figure 3 The image shows point O2 (x1, y1); when the joystick is moved to the left... Figure 2 At point H, the voltages of the two analog signals of the joystick are 0V and 2.5V respectively. The values ​​of the X and Y directions of the point reached by the robot arm in its two-dimensional Cartesian coordinate system are as follows: Figure 3 The diagram shows point h as (x1-X, y1); when the joystick moves to the right... Figure 2 At point D in the diagram, the voltages of the two analog signals of the joystick are 5V and 2.5V respectively. The values ​​of the robot arm in the X and Y directions at the point it reaches in its two-dimensional Cartesian coordinate system are as follows: Figure 3 The diagram shows point d as (x1+X, y1); when the joystick moves backward to... Figure 2 At point B, the voltages of the two analog signals of the joystick are 2.5V and 0V respectively. The values ​​of the X and Y directions of the point reached by the robotic arm in its two-dimensional Cartesian coordinate system are as follows: Figure 3 The diagram shows point b as (x1, y1-Y); when the joystick moves forward to point F, the voltages of the two analog signals of the joystick are 2.5V and 5V respectively. The values ​​of the robot arm in the X and Y directions at the point reached in the two-dimensional Cartesian coordinate system are shown below. Figure 3 As shown, point f is (x1, y1+Y). With the joystick's movement, the robotic arm can move to... Figure 3 The center points of each side of the square aceg can also be moved to Figure 3 Any point within and on the incircle bdfh of the square aceg. Figure 4 This is a schematic diagram illustrating the movement direction and distance of another robotic arm provided in Embodiment 1 of the present invention. (Reference) Figure 4 The actual movement space of the robotic arm is a three-dimensional space. A point is selected within this space, such as... Figure 4 Point P (x1-X, y1-Y, z1-Z) is shown as the reference point for the robot's movement in a three-dimensional Cartesian coordinate system. Based on the motion laws of the robot in two-dimensional XY plane space, the robot's motion space in the three-dimensional Cartesian coordinate system, achieved through the coordination of the right joystick (X and Y directions) and the left joystick (Z direction), is as follows: Figure 4The cube PMNLTSQR has an inscribed sphere O3. The robotic arm, using the right and left joysticks, can move to any point on and within the inscribed sphere O3. The position value of any point within the sphere can be obtained by algebraically adding the data of the reference point P (x1-X, y1-Y, z1-Z) in each dimension to the corrected and amplified analog voltage output from the sensors of the left and right joysticks, thus controlling the robotic arm to reach the corresponding position.

[0048] Furthermore, before determining the target position of the robot arm based on the preset reference position, if the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the robot arm's gripper closing, then the robot arm's gripper is controlled to close so that the robot arm's gripper can grasp an object such as a part; if the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the robot arm's gripper releasing, then the robot arm's gripper is controlled to release so that the robot arm's gripper can put down the grasped object.

[0049] Step 130: Receive the signal transmitted again by the left joystick, and control the rotation angle of the gripper of the robot arm at the target position according to the signal transmitted again by the left joystick, so that the gripper of the robot arm rotates to the target angle at the target position.

[0050] Specifically, the angle that the gripper of the robot needs to rotate can be determined based on the signal transmitted again by the left joystick, thereby controlling the rotation angle of the gripper at the target position, so that the gripper of the robot rotates to the target angle at the target position.

[0051] The robotic arm control method provided in this embodiment determines the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robotic arm. It then controls the robotic arm to move to the target position and controls the rotation angle of the gripper at the target position based on the signal transmitted again by the left joystick. This ensures that the gripper rotates to the target angle at the target position, thereby ensuring that the robotic arm can grasp at the target position and target angle and guaranteeing control reliability.

[0052] Example 2

[0053] Figure 5 This is a flowchart of a control method for a robotic arm provided in Embodiment 2 of the present invention. This embodiment can be applied to controlling robotic arms, etc. The control system of the robotic arm includes: a left joystick, a right joystick, and a controller. Both the left and right joysticks are communicatively connected to the controller. The control method of the robotic arm is executed by the controller, which can be implemented in software and / or hardware. The method specifically includes the following steps:

[0054] Step 210: Receive the signals transmitted by the left joystick and the right joystick.

[0055] The signals transmitted by the left and right joysticks can be voltage signals transmitted during their own shaking. These voltage signals can be converted into information about the shaking motion, such as the distance and direction of the shaking. For example, left-right shaking of the left joystick corresponds to the rotation of the gripper of the robot, forward-backward shaking of the left joystick corresponds to the vertical movement of the robot in three-dimensional space, and forward-backward and left-right shaking of the right joystick corresponds to the forward-backward and left-right movement of the robot in three-dimensional space.

[0056] Step 220: Based on the signals transmitted by the left joystick and the right joystick, determine the direction and distance of the left joystick's movement, as well as the direction and distance of the right joystick's movement.

[0057] Specifically, such as Figure 2 As shown, the direction and distance of the left joystick can be determined based on the voltage of the signal transmitted by the left joystick, and the direction and distance of the right joystick can be determined based on the voltage of the signal transmitted by the right joystick. For details, please refer to the specific description in the above embodiments, which will not be repeated here.

[0058] Step 230: Determine the target position of the robot arm based on the direction and distance of the left joystick's movement, the direction and distance of the right joystick's movement, and the robot arm's preset reference position.

[0059] Specifically, based on the mapping relationship between the direction and distance of the left and right joystick movements and the direction and distance of the robot's movement, and using the robot's preset reference position, the target position of the robot is determined. Figure 2 and Figure 3 The controller performs numerical correction and amplification on the two voltages of the left and right joysticks to obtain values ​​D1, D2, D3, and D4. Based on the preset reference point P1 (P1 and P2 are different names for the same point P), the controller calculates the values ​​of x1-X, y1-Y, and z1-Z in the X, Y, and Z directions, respectively, and the rotation angle α1 of the robotic gripper. It then adds D1, D2, D3, and D4 to x1-X, y1-Y, z1-Z, and α1, respectively, and copies the calculated results to the X, Y, and Z directions of P1 in a Cartesian coordinate system, along with the corresponding rotation angle of the gripper, to obtain the target position. This allows the robotic arm to move to the target position. Since the position of P1 has changed, the position information of P2 needs to be sent to P1, and then P1 is used as the preset reference point to prepare for the next movement of the robotic arm.

[0060] It should be noted that during the process of the robotic arm moving to the target position, the gripper of the robotic arm will rotate at a certain angle. This does not affect the total rotation angle value required for the gripper to pick up the object after the robotic arm moves to the target position.

[0061] Step 240: Determine the left and right swing distance of the left joystick based on the signal transmitted again by the left joystick.

[0062] Specifically, the left and right movements of the left joystick correspond to the rotation of the gripper's jaws. For example, a leftward movement of the left joystick corresponds to a clockwise rotation of the gripper's jaws, and a rightward movement of the left joystick corresponds to a counter-clockwise rotation of the gripper's jaws. The left and right movement distance of the left joystick can be determined based on the voltage of the signal transmitted by the left joystick again.

[0063] Step 250: Based on the mapping relationship between the left and right swing distance of the left joystick and the rotation angle of the gripper of the robot arm, determine the angle that the gripper of the robot arm needs to rotate, so as to control the gripper of the robot arm to rotate to the target angle.

[0064] Specifically, the mapping relationship between the left joystick's left and right swing distance and the rotation angle of the robotic arm's gripper can be linear. Figure 6 This is a schematic diagram of a mapping relationship provided in Embodiment 2 of the present invention, for reference. Figure 6 Before the left joystick is moved, it is at point O4, at which point the voltage of its two analog signals is 2.5V. When the left joystick moves to the left to point A, the voltage of its first analog signal is 0V; when the joystick moves to the right to point D, the voltage of its second analog signal is 5V. Furthermore, during the movement of the left joystick, the voltage of the second analog signal (corresponding to the left and right movement of the left joystick) varies linearly depending on the joystick's position. Within its workspace, when the robot arm moves to its working point at the end of its six axes, it can control the sixth axis of the robot arm (the axis corresponding to the gripper) to rotate from 0° to 360°. Therefore, when the voltage of the second analog signal of the left joystick is 0V, the sixth axis of the calibrated robot arm rotates to 0°; when the voltage of the second analog signal of the left joystick is 2.5V, the sixth axis of the calibrated robot arm rotates to 180°; and when the voltage of the second analog signal of the left joystick is 5V, the sixth axis of the calibrated six-axis robot arm rotates to 360°. Based on this, at the preset reference point, when the sixth axis of the robotic arm rotates to 0°, the analog signal voltage of the joystick is 0V. The controller controls the robotic arm to move to the target position in the X, Y, and Z directions respectively. Then, it reads the current angle θ2 of the sixth axis of the robotic arm, calculates the rotation angle θ1 of the sixth axis required for the robotic arm to successfully grasp the object, and determines the required rotation angle θ1-θ2 of the sixth axis of the robotic arm. According to the mapping relationship between the second analog output signal of the left joystick and the six-axis rotation angle value of the robotic arm, the offset of the joystick swing is determined, thereby controlling the sixth axis of the robotic arm to rotate to the target angle value.

[0065] The left joystick has two analog output signals. One signal serves as the input for the Z-axis motion offset of the robot's motion space; the other signal serves as the input for the rotation angle offset of the sixth axis. These two analog output signals are acquired by two sensors placed orthogonally, exhibiting orthogonal independence (geometric decoupling is achieved through a 90° perpendicular intersection, ensuring that changes in one axis do not affect the coordinates of the other). [Reference] Figures 2-4 The two axes X and Y are geometrically decoupled by intersecting perpendicularly at 90°. Changes in one axis do not affect the coordinate value of the other axis. Therefore, the robot can be moved from point P1 to point P2 along the X, Y, and Z directions respectively by the left and right joysticks. Since the movement directions of the robot are orthogonal to each other, changes in one axis do not affect the coordinate value of the other axis. Therefore, the left and right handles, i.e. the left and right joysticks, can be deflected at the same time, so that the robot moves in a straight line from point P1 to point P2 along the vector superposition of the offsets in the X, Y, and Z directions. Then the left joystick swings again. Based on the signal transmitted by the left joystick again, the rotation angle of the sixth axis of the robot is determined, so that the gripper of the robot can successfully grasp the object.

[0066] Furthermore, the controller receives signals from four analog signals output by the left and right joysticks, each with a value ranging from 0 to 5.0V. Taking the first analog signal from the right joystick as an example, the voltage value of this signal is mapped to the offset of the robot arm in the X direction relative to a preset reference point P in the spatial coordinate system. For example, the numerical range of the first analog signal of the right joystick (0-5.0V) and the working range of the robot in the X direction are mapped to the preset reference point P (X=50) to point M (X=600). (When the voltage of the first analog signal of the right joystick is 0, the value of the robot in the X direction is X=50; when the voltage of the first analog signal of the right joystick is 5V, the value of the robot in the X direction is X=600). To calculate the position of the robot at any point on PM in the X direction, the voltage value of the joystick analog signal can be set as x, and the position of the robot in the X direction can be set as y. Then, the formula for determining the position y of the robot at any point on PM in the X direction based on the two points P (x=0, y=50) and (x=5, y=600) on the straight line is y=110×x+50, where 110×x is the value D1 obtained after numerical correction and amplification of the first analog signal of the right joystick. The principle of numerical correction and amplification of the other three analog signals is similar and will not be described in detail.

[0067] Figure 7 This is a schematic diagram illustrating the movement direction and distance of a robotic arm according to Embodiment 2 of the present invention. (Reference) Figure 7 Taking the position I of the object to be gripped by the robotic arm in the three-dimensional coordinate system as an example, the gripper of the robotic arm moves from the preset reference point P (x1-X, y1-Y, z1-Z) to the target point I (x1, y1, z1+Z). The distances of linear movement of the X, Y, and Z axes in the spatial rectangular coordinate system are X, Y, and 2Z, respectively. The rotation angle of the sixth axis corresponding to the gripper of the robotic arm at the preset reference point P is θ1-θ. If the rotation angle of the sixth axis of the robotic arm is θ when it moves to the target point I, and the angle of rotation of the sixth axis to a suitable angle for gripping the object is θ2, then the angle of rotation of the sixth axis of the robotic arm is θ2-θ1. Therefore, for the robotic arm to move from the preset reference point P to the target point I and successfully grasp the object, the gripper needs to move distances X, Y, and 2Z in the XYZ directions of the three-dimensional coordinate system, respectively. After reaching the target point I, the sixth axis of the robotic arm needs to rotate by an angle θ2-θ1 based on the angle θ1 to achieve successful object grasping. Furthermore, the movements of the robotic arm in the X, Y, and Z directions are orthogonal and decoupled. Whether the robotic arm moves from point P (x1-X, y1-Y, z1-Z) to point H first in the X, Y, or Z directions does not affect the actual position reached by the robotic arm, which is I (x1, y1, z1+Z).

[0068] Figure 8 This is a flowchart of another control method for a robotic arm provided in Embodiment 2 of the present invention, see reference. Figure 8 The controller can control the gripper of the robot to close (open) via a high-level (low-level) signal. Figure 8 The execution process of each step can be found in the detailed description of steps 210-250, and will not be repeated here.

[0069] It should be noted that the specific values ​​of each parameter in this embodiment can be determined according to actual control requirements, and are not limited here.

[0070] The robotic arm control method provided in this embodiment determines the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robotic arm. It then controls the robotic arm to move to the target position and controls the rotation angle of the gripper at the target position based on the signal transmitted again by the left joystick. This ensures that the gripper rotates to the target angle at the target position, thereby ensuring that the robotic arm can grasp at the target position and target angle and guaranteeing control reliability.

[0071] Example 3

[0072] Figure 9 This is a structural block diagram of a robotic arm control system provided in Embodiment 3 of the present invention. (Reference) Figure 9The control system of the robotic arm includes a left joystick 10, a right joystick 20, and a controller 30. Both the left joystick 10 and the right joystick 20 are communicatively connected to the controller 30. The controller 30 is used to execute the control method of the robotic arm as described in any embodiment of the present invention. The specific control of the robotic arm by the controller 30 can be referred to in any of the above embodiments, and is not limited here.

[0073] In addition, the robotic arm is equipped with motors, and the controller 30 controls the robotic arm by controlling the motors. The control system of the robotic arm also includes a robotic arm teach pendant, which is electrically connected to the controller 30. The robotic arm teach pendant can be a touch screen to realize human-machine interaction.

[0074] Optionally, both the left and right joysticks are equipped with buttons, magnets, and magnetic non-contact rotation angle sensors.

[0075] For example, a magnetic non-contact rotation angle sensor is a sensor chip. Figure 10 This is a schematic diagram of a magnet and sensor provided in Embodiment 3 of the present invention, for reference. Figure 10 The magnet is fixed to the bottom of the rocker arm's swinging part, and is located directly above the sensor. Figure 11 This is a schematic diagram of the magnet rotation angle provided in Embodiment 3 of the present invention, for reference. Figure 11 The magnet can rotate 360 ​​degrees. The signal voltage output by the sensor varies depending on the rotation angle of the magnet. Figure 12 This is a schematic diagram of a rocker bottom structure provided in Embodiment 3 of the present invention, for reference. Figure 12 Each joystick is equipped with two sensor chips and circuit boards. One sensor chip and circuit board 11 and magnet 12 are used to acquire angle signals when the joystick swings back and forth, while the other sensor chip and circuit board 21 and magnet 22 are used to acquire angle signals when the joystick swings left and right. In addition, the sensor chip and circuit board 11 and magnet 12 are orthogonally placed to the other sensor chip and circuit board 21 and magnet 22, thereby enabling the robotic arm to move in the corresponding direction. Figure 13 This is a schematic diagram of the output voltage and rotation angle provided in Embodiment 3 of the present invention, for reference. Figure 13 A segment AB or BC is selected where the rotation angle of the magnet is linearly related to the output voltage of the sensor (the voltage of the signal output by the sensor) as the working stroke of the joystick.

[0076] Figure 14 This is a structural block diagram of a control device for a robotic arm provided in Embodiment 3 of the present invention. (Reference) Figure 14The control device for the robotic arm (integrated in the controller) includes: a signal receiving module 310, a position control module 320, and an angle control module 330. The signal receiving module 310 receives signals transmitted from the left and right joysticks. The position control module 320 determines the target position of the robotic arm based on the signals transmitted from the left and right joysticks and a preset reference position of the robotic arm, and controls the robotic arm to move to the target position. The angle control module 330 receives a signal transmitted again from the left joystick and controls the rotation angle of the robotic arm's gripper at the target position based on this signal, causing the gripper to rotate to the target angle at the target position.

[0077] Based on the above embodiments, the position control module 320 includes:

[0078] The direction determination unit is used to determine the direction and distance of the left joystick's movement, as well as the direction and distance of the right joystick's movement, based on the signals transmitted by the left joystick and the right joystick.

[0079] The position determination unit is used to determine the target position of the robot arm based on the direction and distance of the left joystick and the direction and distance of the right joystick, and based on the preset reference position of the robot arm.

[0080] Optionally, the aforementioned position determination unit is specifically used to determine the target position of the robot arm based on the mapping relationship between the swing direction and forward / backward swing distance of the left joystick and the swing direction and swing distance of the right joystick, and the movement direction and movement distance of the robot arm, and based on the preset reference position of the robot arm.

[0081] Optionally, the angle control module 330 includes:

[0082] The distance determination unit is used to determine the left and right swing distance of the left joystick based on the signal transmitted again by the left joystick;

[0083] An angle control unit is used to determine the angle that the gripper of the robot needs to rotate based on the mapping relationship between the left and right swing distance of the left joystick and the rotation angle of the gripper of the robot, so as to control the gripper of the robot to rotate to the target angle.

[0084] Optionally, the control device for the robotic arm also includes a gripper control module. The gripper control module is used to control the gripper of the robotic arm to close if the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the gripper closing, and to control the gripper of the robotic arm to release if the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the gripper releasing.

[0085] This embodiment also provides a robotic arm, and the control method described in any embodiment of the present invention is applied to the robotic arm.

[0086] The control device, system, and manipulator provided in this embodiment belong to the same inventive concept as the control method of the manipulator provided in any embodiment of the present invention, and have corresponding beneficial effects. For technical details not covered in this embodiment, please refer to the control method of the manipulator provided in any embodiment of the present invention.

[0087] Example 4

[0088] Figure 15 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Figure 15 A block diagram is shown of an exemplary electronic device 412 suitable for implementing embodiments of the present invention. Figure 15 The electronic device 412 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0089] like Figure 15 As shown, electronic device 412 is represented in the form of a general-purpose device. The components of electronic device 412 may include, but are not limited to: one or more processors 416, storage device 428, and bus 418 connecting different system components (including storage device 428 and processor 416).

[0090] Bus 418 represents one or more of several bus architectures, including a memory device bus or memory device controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. Examples of these architectures include, but are not limited to, the Industry Subversive Alliance (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0091] Electronic device 412 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 412, including volatile and non-volatile media, and shakeable and non-shakeable media.

[0092] Storage device 428 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 430 and / or cache memory 432. Electronic device 412 may further include other rocking / non-rocking, volatile / non-volatile computer system storage media. By way of example only, storage system 434 may be used to read and write non-rocking, non-volatile magnetic media (… Figure 15 Not shown; usually referred to as a "hard drive"). Although Figure 15 Not shown, a disk drive for reading and writing to a reversible non-volatile disk (e.g., a "floppy disk") and an optical disc drive for reading and writing to a reversible non-volatile optical disc, such as a Compact Disc Read-Only Memory (CD-ROM), a Digital Video Disc Read-Only Memory (DVD-ROM), or other optical media. In these cases, each drive may be connected to bus 418 via one or more data media interfaces. Storage device 428 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0093] A program / utility 440 having a set (at least one) of program modules 442 may be stored in, for example, a storage device 428. Such program modules 442 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 442 typically perform the functions and / or methods described in the embodiments of the present invention.

[0094] Electronic device 412 can also communicate with one or more external devices 414 (e.g., keyboard, pointing terminal, display 424, etc.), and with one or more terminals that enable a user to interact with the electronic device 412, and / or with any terminal that enables the electronic device 412 to communicate with one or more other computing terminals (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 422. Furthermore, electronic device 412 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 420. Figure 15As shown, network adapter 420 communicates with other modules of electronic device 412 via bus 418. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with electronic device 412, including but not limited to: microcode, terminal drivers, redundant processors, external disk drive arrays, Redundant Arrays of Independent Disks (RAID) systems, tape drives, and data backup storage systems.

[0095] The processor 416 executes various functional applications and data processing by running programs stored in the storage device 428, such as implementing the control method of the robotic arm provided in the embodiments of the present invention, the method including:

[0096] Receive signals transmitted from the left joystick and signals transmitted from the right joystick;

[0097] Based on the signals transmitted by the left and right joysticks, and using the preset reference position of the robot arm, the target position of the robot arm is determined and the robot arm is controlled to move to the target position.

[0098] The system receives the signal transmitted again from the left joystick and controls the rotation angle of the gripper at the target position based on the signal transmitted again from the left joystick, so that the gripper of the robot arm rotates to the target angle at the target position.

[0099] Example 5

[0100] Embodiment 5 of the present invention provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the control method for a robotic arm as provided in the embodiments of the present invention. The method includes:

[0101] Receive signals transmitted from the left joystick and signals transmitted from the right joystick;

[0102] Based on the signals transmitted by the left and right joysticks, and using the preset reference position of the robot arm, the target position of the robot arm is determined and the robot arm is controlled to move to the target position.

[0103] The system receives the signal transmitted again from the left joystick and controls the rotation angle of the gripper at the target position based on the signal transmitted again from the left joystick, so that the gripper of the robot arm rotates to the target angle at the target position.

[0104] The computer storage medium of this invention can be any combination of one or more computer-readable media. A 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 electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0105] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0106] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0107] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or terminal. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0108] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, rearrangements, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for a robotic arm, characterized in that, The control system of the robotic arm includes a left joystick, a right joystick, and a controller. Both the left and right joysticks are communicatively connected to the controller, and the control method is executed by the controller. The control method includes: Receive signals transmitted by the left joystick and signals transmitted by the right joystick; Based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the manipulator, the target position of the manipulator is determined and the manipulator is controlled to move to the target position; The system receives the signal transmitted again by the left joystick and controls the rotation angle of the gripper of the robotic arm at the target position according to the signal transmitted again by the left joystick, so that the gripper of the robotic arm rotates to the target angle at the target position.

2. The control method for the robotic arm according to claim 1, characterized in that, The step of determining the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robotic arm, includes: Based on the signals transmitted by the left joystick and the right joystick, determine the direction and distance of the left joystick's movement, as well as the direction and distance of the right joystick's movement. Based on the direction and distance of the left joystick's movement, the direction and distance of the right joystick's movement, and the preset reference position of the robotic arm, the target position of the robotic arm is determined.

3. The control method for the robotic arm according to claim 2, characterized in that, The step of determining the target position of the robotic arm based on the swing direction and forward / backward distance of the left joystick and the swing direction and distance of the right joystick, and based on a preset reference position of the robotic arm, includes: Based on the mapping relationship between the swing direction and forward / backward swing distance of the left joystick, the swing direction and swing distance of the right joystick, and the movement direction and movement distance of the robotic arm, and based on the preset reference position of the robotic arm, the target position of the robotic arm is determined.

4. The control method for the robotic arm according to claim 3, characterized in that, The mapping relationship is linear.

5. The control method for the robotic arm according to claim 1, characterized in that, The step of controlling the rotation angle of the gripper of the robotic arm at the target position based on the signal transmitted again by the left joystick includes: The left and right swing distance of the left joystick is determined based on the signal transmitted again by the left joystick. Based on the mapping relationship between the left and right swing distance of the left joystick and the rotation angle of the gripper of the robot, the required rotation angle of the gripper of the robot is determined so as to control the gripper of the robot to rotate to the target angle.

6. The control method for the robotic arm according to claim 1, characterized in that, Before determining the target position of the robotic arm based on the signals transmitted by the left joystick and the right joystick, and based on the preset reference position of the robotic arm, the following steps are included: If the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the closure of the gripper of the robotic arm, then control the gripper of the robotic arm to close. If the signal transmitted by the left joystick and / or the signal transmitted by the right joystick includes information about the gripper of the robotic arm being released, then the gripper of the robotic arm is controlled to be released.

7. The control method for the robotic arm according to claim 1, characterized in that, The left and right rocking of the left joystick corresponds to the rotation of the gripper of the robotic arm, and the left joystick rocking back and forth corresponds to the up and down movement of the robotic arm in three-dimensional space.

8. A control system for a robotic arm, characterized in that, include: A left joystick, a right joystick, and a controller, wherein the left joystick and the right joystick are both communicatively connected to the controller; The controller is used to execute the control method of the robotic arm as described in any one of claims 1-7.

9. The control system for the robotic arm according to claim 8, characterized in that, Both the left and right joysticks are equipped with buttons, magnets, and magnetic non-contact rotation angle sensors.

10. A robotic arm, characterized in that, The control method described in any one of claims 1-7 is applied to the robotic arm.

Images