The invention discloses a heterogeneous double-mechanical-arm
tail end
pose mapping method,
system and device and a storage medium, and the method comprises the following steps: S1, obtaining the
angular velocity, position and
tail end
pose information of each joint of a main mechanical arm, and calculating the spatial position and
pose of the
tail end of the main mechanical arm; s2, motion trail data in the teaching process of the main mechanical arm is collected, a long-short-
term memory network model is established, the pose of the future
time step length is predicted, and the motion trail of the auxiliary mechanical arm is planned; s3,
data information is transmitted, and the problem of communication
delay is solved; s4, the pose information of the tail end of the main mechanical arm is solved, the
joint angle is adjusted, and the error is adjusted in combination with proportional-integral-differential control; s5, the position and speed signals are filtered, a mechanical arm dynamic model is established, an
adaptive control law is designed, and a trajectory
smoothing algorithm is adopted; and S6, establishing a virtual obstacle map, and limiting a safe
working space. According to the method, comprehensive and accurate mapping and prediction of the tail end poses of the heterogeneous double mechanical arms are achieved.