Robotic Arm Balance Control for Non-End Object Positioning
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Solution Overview
Problem
Existing robotic arms face challenges in maintaining a movable object balanced at positions other than the end without falling, due to the lack of effective control methods for non-end parts, which complicates operations and control.
Innovation Solution
A robotic arm control method and apparatus that includes a controller to determine a mapping relationship between the motion state and control information, allowing the robotic arm to maintain a movable object in a pre-defined balanced state by controlling the movement of its links based on this relationship.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic arm uses traditional control methods for end-effectors only, then the control system remains simple, but the movable object cannot be kept balanced at non-end positions on the robotic arm
Solution Approach 1:
The control method dynamically adjusts the motion state of the first link based on real-time feedback of the movable object's position and state. The controller continuously updates control information to maintain the movable object in a balanced state at non-end positions, transforming the static control approach into a dynamic adaptive control system.
Solution Approach 2:
The control system obtains the motion state of the system including the first link and movable object, determines control information based on a mapping relationship, and uses this feedback loop to continuously adjust and maintain the movable object's balanced state at non-end positions on the robotic arm.
2Reliability
If the robotic arm controls movement to maintain balance at non-end positions, then the movable object remains balanced without falling, but the control precision requirements increase
Solution Approach 1:
The control system pre-establishes a mapping relationship between the motion state and control information before actual operation. This preliminary configuration of control parameters and relationships enables the system to quickly respond and maintain balance without requiring high real-time control precision during operation.
3Adaptability or versatility
If the robotic arm operates only at the end position, then the control method remains simple, but the operational versatility is limited
Solution Approach 1:
The control method is designed to be universally applicable at any position along the robotic arm's link, not just at the end position. By establishing a general mapping relationship between motion state and control information, the system can perform balancing operations at multiple positions, enhancing operational versatility.
Data Source
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AI summary
The present application relates to the field of robots. Disclosed are a control method and apparatus for a robotic arm, and a device and a storage medium. In the method, a movable object is placed at any position on a robotic arm except for a tail end. The method comprises: acquiring a dynamic system, and obtaining, from the dynamic system, posture information associated with a robotic arm, wherein the dynamic system is constructed at least according to the robotic arm (120); determining control information on the basis of a mapping relationship between the posture information and the control information of the robotic arm (140); and controlling the movement of the robotic arm by using the control information, such that a movable object reaches a balanced state on the robotic arm (160).