Robotic Arm Dragging Control for Predictable Joint Motion
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Solution Overview
Problem
Robotic arms with redundant degrees of freedom exhibit movement uncertainty and difficulty in manual dragging, leading to increased operation complexity and collision risks.
Innovation Solution
A robotic arm control method and apparatus that includes a dragging preparation phase and phase, utilizing forward kinematics to determine a first calculation expression for controlling the movement of a target joint based on the position characteristic value of a selected arm body, allowing precise positioning during manual dragging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic arm with redundant degrees of freedom is manually dragged, then the working space is increased and collision can be avoided, but the movements of multiple joints become uncertain and difficult to predict
Solution Approach 1:
The robotic arm is divided into multiple arm bodies (first arm body, second arm body, third arm body) with distinct joints (first joint, second joint, third joint). Each joint's movement is independently calculated and controlled based on forward kinematics, allowing the operator to drag one arm body while the system computes the coordinated movements of all joints. This segmentation enables predictable joint movements while maintaining the benefits of redundant degrees of freedom for expanded working space.
2Adaptability or versatility
If a robotic arm with redundant degrees of freedom is manually dragged, then the working space is increased and collision can be avoided, but the joint movements become uncertain leading to increased collision risks
Solution Approach 1:
The system continuously acquires real-time position information of multiple joints through position acquisition units and uses forward kinematics to calculate the next position of the target joint based on the dragged arm body's new position. This closed-loop feedback mechanism ensures that joint movements are predictable and controllable, reducing collision risks while maintaining the expanded working space benefits of redundant degrees of freedom.
3Speed
If manual dragging is used to enable the robotic arm to quickly reach a specific posture, then the speed is improved, but the control precision of multiple joints deteriorates
Solution Approach 1:
The system pre-establishes forward kinematics models and calculation expressions that define the relationship between arm body positions and joint positions. Before actual dragging occurs, the control system is prepared with the mathematical models needed to quickly compute joint positions. During dragging, the system immediately applies these pre-prepared models to calculate next joint positions, enabling both fast response and precise control without the trade-off present in conventional manual dragging methods.
Data Source
AI summary
Provided are a robotic arm control method and apparatus, and a robotic arm. The control method includes a dragging preparation phase and a dragging phase. The dragging preparation phase includes determining a target arm body and a position characteristic value of the target arm body, determining a relationship expression between the position characteristic value and the positions of multiple joints, and determining a target joint as the control object in the dragging phase. The dragging phase includes determining the target value of the position characteristic value and the positions of multiple joints except the target joint at the current moment; substituting the obtained parameters into a first calculation expression to solve for the next position of the target joint when a robotic arm is dragged from a current position.