Robotic Arm Joint Angle Control Within Inverse Kinematics Limits
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Solution Overview
Problem
Robotic arms with redundant degrees of freedom face challenges in efficient operation due to calculated joint angles exceeding their movement range during inverse kinematics, leading to unstable and inefficient movements.
Innovation Solution
A method for controlling robotic arms that involves obtaining current joint angles, determining a reference included angle, and using an evaluation function to set a target angle range, ensuring the robotic arm moves within safe joint limits, thereby stabilizing and smoothing its movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inverse kinematics is used to calculate joint angles for robotic arm movement, then the robotic arm can achieve the desired end position and posture, but the calculated joint angles may exceed the joint movement range causing unstable and inefficient movements
Solution Approach 1:
The patent applies preliminary action by evaluating all possible inverse kinematics solution groups before execution, calculating the joint angles for each group, and selecting the valid group where all joint angles are within the movement range. This advance evaluation prevents invalid movements before they occur, ensuring both calculation accuracy and movement stability.
2Adaptability or versatility
If the robotic arm uses redundant degrees of freedom for flexible operation, then adaptability is improved, but the complexity of control increases due to multiple solution groups
Solution Approach 1:
The patent applies parameter changes by using an evaluation function that assesses multiple solution groups based on joint angle ranges and movement efficiency. By changing the selection criterion from simple inverse kinematics calculation to evaluation-based selection, the system maintains flexibility while reducing control complexity through automated optimal solution selection.
3Productivity
If the robotic arm operates with calculated joint angles without range verification, then calculation efficiency is maintained, but shaking and impacts occur when joints exceed movement range
Solution Approach 1:
The patent applies feedback by implementing an evaluation mechanism that checks joint angle ranges for each inverse kinematics solution group. The system receives feedback about which solution groups have valid joint angles within the movement range and selects only those groups, preventing shaking and impacts while maintaining calculation efficiency through automated validation.
Data Source
AI summary
The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.