Robotic Arm Motion Control for Mid-Arm Throw and Catch
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic arms face challenges in controlling operations due to their curved exterior lacking a graspable mechanism, resulting in difficulty in achieving form and force closure, making it hard to effectively throw and receive objects at non-end positions and maintain balance.
Innovation Solution
A robotic arm design with 7 degrees of freedom, utilizing a drive assembly with multiple drive sources and cables, allows for independent and coupled motions, enabling the arm to throw and receive objects at non-end positions and maintain balance through a control method involving control signals to manage torque and motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a robotic arm uses a curved exterior without a graspable mechanism, then the structure is simpler and more elegant, but it cannot achieve form and force closure making it difficult to throw and receive objects at non-end positions
Solution Approach 1:
The patent applies dynamics by enabling the robotic arm to perform sequential actions (throwing, receiving, balancing) through controlled motion changes. The arm transitions from static structural simplicity to dynamic operational capability by using multiple drive sources that can independently or coupledly control joint motions, allowing the curved arm to successfully manipulate objects at non-end positions through timed movements rather than mechanical grasping mechanisms
2Ease of operation
If the robotic arm uses multiple drive sources with independent and coupled motions, then it can achieve precise control for throwing and receiving objects, but the device complexity increases
Solution Approach 1:
The patent implements universality by designing a drive assembly where multiple drive sources can operate independently for single-joint control or coupledly for coordinated multi-joint motion. This multi-functional drive system enables the same mechanical structure to perform diverse operations (throwing, receiving, balancing) without requiring separate specialized mechanisms for each function, thus managing complexity through functional integration
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
The present application belongs to the field of robots. Disclosed are a robotic arm control method and apparatus, a device, and a storage medium. The method is executed by a controller of a robotic arm. A three-dimensional object is placed at any position other than a tail end on the robotic arm. The method comprises: controlling the robotic arm to throw the three-dimensional object (510); acquiring a first control signal; controlling, on the basis of the first control signal, the robotic arm to catch the thrown three-dimensional object, with the position where the robotic arm catches the three-dimensional object being any position other than the tail end (520); acquiring a second control signal; and controlling the robotic arm on the basis of the second control signal, so that the three-dimensional object regains a state of force balance at any position other than the tail end (530). The present application provides a new use method for a robotic arm, comprising first throwing a three-dimensional object, then catching the three-dimensional object by means of any position other than the tail end on the robotic arm, and enabling the three-dimensional object to regain balance. The control mode of the robotic arm for throwing and catching the three-dimensional object is expanded.