阅读说明：本技术 自动拉伸机械手臂控制方法 (Control method for automatic stretching mechanical arm ) 是由 陈玲玲 于 2021-09-10 设计创作，主要内容包括：本发明公开了一种自动拉伸机械手臂控制方法,涉及机械手臂技术领域,包括根据机械手臂的初始位置建立空间直角坐标系；确定机械手臂本次移动的目标点的空间直角坐标；根据目标点的空间直角坐标确定机械手臂各个臂节的运动方向和旋转角度；控制系统控制机械手臂的各个臂节按照预定运动方向和旋转角度进行运动。本发明以机械手臂的初始位置建立空间直角坐标系,确定目标点的空间直角坐标,之后计算出机械手臂各个臂节的旋转方向和旋转角度,然后通过控制系统控制机械手臂的各个臂节同时按照预定运动轨迹运动即可,运动控制过程快捷,运动平滑,不存在重复运动的情况。(The invention discloses a control method of an automatic stretching mechanical arm, which relates to the technical field of mechanical arms and comprises the steps of establishing a space rectangular coordinate system according to the initial position of the mechanical arm; determining the spatial rectangular coordinate of the target point of the current movement of the mechanical arm; determining the motion direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point; and the control system controls each arm section of the mechanical arm to move according to the preset movement direction and the preset rotation angle. According to the invention, a space rectangular coordinate system is established according to the initial position of the mechanical arm, the space rectangular coordinate of the target point is determined, then the rotating direction and the rotating angle of each arm section of the mechanical arm are calculated, then each arm section of the mechanical arm is controlled by a control system to move according to a preset movement track, the movement control process is rapid, the movement is smooth, and the situation of repeated movement does not exist.)

1. A control method for an automatic stretching mechanical arm is characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

establishing a space rectangular coordinate system according to the initial position of the mechanical arm;

determining the spatial rectangular coordinate of the target point of the current movement of the mechanical arm;

determining the motion direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point;

and the control system controls each arm section of the mechanical arm to move according to the preset movement direction and the preset rotation angle.

2. The control method of an automated stretching robot arm according to claim 1, characterized in that: the establishing of the spatial rectangular coordinate system according to the initial position of the mechanical arm comprises,

taking the end point of the first arm joint of the mechanical arm as the origin of coordinates of the space rectangular coordinate system;

determining the motion range of a first arm section of the mechanical arm, and determining the maximum motion tracks of an X axis, a Y axis and a Z axis in a space rectangular coordinate system;

in a space rectangular coordinate system, determining the maximum motion tracks of the X axis, the Y axis and the Z axis of the second arm joint in the space rectangular coordinate system by taking the motion track of the first arm joint as a corresponding base point;

and repeating the steps until the maximum motion trail of all the arm sections of the mechanical arm in the space rectangular coordinate system is determined.

3. The control method of an automated stretching robot arm according to claim 1, characterized in that: the movement direction and the rotation angle of each arm section of the mechanical arm are determined according to the spatial rectangular coordinates of the target point,

determining initial coordinate parameter values of all arm sections of the mechanical arm;

establishing a homogeneous transformation matrix according to initial coordinate parameter values of all arm sections of the mechanical arm and coordinate parameter values of a target point;

and deducing the rotation angle of each arm section of the mechanical arm according to the homogeneous rotation matrix calculation.

4. The control method of an automated stretching robot arm according to claim 3, characterized in that: the homogeneous conversion matrix is:

wherein, theA homogeneous transformation matrix for the nth arm segment.

5. The control method of an automated stretching robot arm according to claim 3, characterized in that: the rotation angles of all arm sections of the mechanical arm are deduced according to the homogeneous rotation matrix calculation,

calculating the rotation angle theta of the nth arm section according to the following formula_n，

θ_n＝[Tn]*[⁰A₁]^-1[¹A₂]^-1…[^n-1A_n]^-1。

6. The utility model provides an automatic tensile robotic arm control system which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the receiving module is used for receiving the spatial rectangular coordinate of the target point of the current movement of the mechanical arm;

the calculation module is used for calculating the movement direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point;

and the main control module is used for receiving the calculation data transmitted by the calculation module and controlling the movement of each arm section of the mechanical arm according to the calculation data.

7. The automated stretching robot control system of claim 6, wherein: the computing module is further to:

and deducing the rotation angle of each arm section of the mechanical arm according to the homogeneous rotation matrix calculation, wherein the homogeneous rotation matrix is as follows:

wherein, the [ alpha ], [ alpha^n-1A_n]A homogeneous transformation matrix for the nth arm segment;

and calculating the rotation angle theta of the nth arm section according to the following formula_n，

θ_n＝[Tn]*[⁰A₁]^-1*[¹A₂]^-1…[^n-1A_n]^-1。

8. The automated stretching robot control system of claim 6, wherein: the robot further comprises a data storage module for storing the spatial rectangular coordinates of the target point and the movement parameters corresponding to each arm section of the mechanical arm.

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a control method for automatically stretching a mechanical arm.

Background

Along with the development of science and technology, intelligent technology is more and more popularized, and the mechanical arm industry develops rapidly. Robotic arms are typically made up of a plurality of arm segments. Aiming at the problem of the motion track of the mechanical arm, the control system is the key point, the control system can control the mechanical arm to accurately complete complex and repeated actions, and in the motion control process, the smoothness of motion control and the reasonability of track planning can influence the service life of hardware equipment related to the mechanical arm and the use experience of a user.

Disclosure of Invention

The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a control method for an automatic stretching mechanical arm.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a control method of an automatic stretching mechanical arm comprises the following steps,

establishing a space rectangular coordinate system according to the initial position of the mechanical arm;

determining the spatial rectangular coordinate of the target point of the current movement of the mechanical arm;

determining the motion direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point;

and the control system controls each arm section of the mechanical arm to move according to the preset movement direction and the preset rotation angle.

As a preferable aspect of the control method for an automatic stretching robot arm of the present invention, the method includes: the establishing of the spatial rectangular coordinate system according to the initial position of the mechanical arm comprises,

taking the end point of the first arm joint of the mechanical arm as the origin of coordinates of the space rectangular coordinate system;

determining the motion range of a first arm section of the mechanical arm, and determining the maximum motion tracks of an X axis, a Y axis and a Z axis in a space rectangular coordinate system;

in a space rectangular coordinate system, determining the maximum motion tracks of the X axis, the Y axis and the Z axis of the second arm joint in the space rectangular coordinate system by taking the motion track of the first arm joint as a corresponding base point;

and repeating the steps until the maximum motion trail of all the arm sections of the mechanical arm in the space rectangular coordinate system is determined.

As a preferable aspect of the control method for an automatic stretching robot arm of the present invention, the method includes: the movement direction and the rotation angle of each arm section of the mechanical arm are determined according to the spatial rectangular coordinates of the target point,

determining initial coordinate parameter values of all arm sections of the mechanical arm;

establishing a homogeneous transformation matrix according to initial coordinate parameter values of all arm sections of the mechanical arm and coordinate parameter values of a target point;

and deducing the rotation angle of each arm section of the mechanical arm according to the homogeneous rotation matrix calculation.

As a preferable aspect of the control method for an automatic stretching robot arm of the present invention, the method includes: the homogeneous conversion matrix is:

wherein, theA homogeneous transformation matrix for the nth arm segment.

As a preferable aspect of the control method for an automatic stretching robot arm of the present invention, the method includes: the rotation angles of all arm sections of the mechanical arm are deduced according to the homogeneous rotation matrix calculation,

calculating the rotation angle theta of the nth arm section according to the following formula_n，θ_n＝[Tn]*[⁰A₁]^-1[1A₂]^-1…[^n-1A_n]^-1。

The invention also provides a control system of the automatic stretching mechanical arm, which comprises,

the receiving module is used for receiving the spatial rectangular coordinate of the target point of the current movement of the mechanical arm;

the calculation module is used for calculating the movement direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point;

and the main control module is used for receiving the calculation data transmitted by the calculation module and controlling the movement of each arm section of the mechanical arm according to the calculation data.

As a preferable aspect of the automatic stretching robot arm control system of the present invention, wherein: the computing module is further to:

and deducing the rotation angle of each arm section of the mechanical arm according to the homogeneous rotation matrix calculation, wherein the homogeneous rotation matrix is as follows:

wherein, theA homogeneous transformation matrix for the nth arm segment;

and calculating the rotation angle theta of the nth arm section according to the following formula_n，θ_n＝[Tn]*[⁰A₁]^-1*[¹A₂]^-1…[^n-1A_n]^-1。

As a preferable aspect of the automatic stretching robot arm control system of the present invention, wherein: the robot further comprises a data storage module for storing the spatial rectangular coordinates of the target point and the movement parameters corresponding to each arm section of the mechanical arm.

The invention has the beneficial effects that:

according to the invention, a space rectangular coordinate system is established according to the initial position of the mechanical arm, the space rectangular coordinate of the target point is determined, then the rotating direction and the rotating angle of each arm section of the mechanical arm are calculated, then each arm section of the mechanical arm is controlled by a control system to move according to a preset movement track, the movement control process is rapid, the movement is smooth, and the situation of repeated movement does not exist.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a control method for an automatic stretching robot provided in the present invention;

fig. 2 is a schematic diagram of the spatial rectangular coordinate system established in the present embodiment.

Detailed Description

In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

The embodiment provides a control method for an automatic stretching mechanical arm, which comprises steps S101 to S104, and the specific steps are as follows:

s101, establishing a space rectangular coordinate system according to the initial position of the mechanical arm.

Specifically, taking a six-axis robot arm as an example, establishing a spatial rectangular coordinate system includes the following steps:

a. taking the lower end point of a first arm section of the mechanical arm on the base as the origin of coordinates of a space rectangular coordinate system;

b. determining the maximum motion trail of the first arm joint along the X axis, the Y axis and the Z axis in a space rectangular coordinate system according to the motion range of the first arm joint of the mechanical arm;

c. determining the maximum motion track of a second arm joint of the mechanical arm along an X axis, a Y axis and a Z axis in a space rectangular coordinate system by taking the motion track of the first arm joint as a corresponding base point according to the motion range of the second arm joint;

d. and determining the maximum motion track of the third arm section in the space rectangular coordinate system by taking the motion track of the second arm section as a corresponding base point, and repeating the steps until the maximum motion tracks of all the arm sections in the space rectangular coordinate system are completed.

It should be noted that, if any arm joint can only move along the Y axis, it is only necessary to determine the maximum movement locus of the arm joint along the Y axis in the spatial rectangular coordinate system.

Referring to the drawings, a rectangular spatial coordinate system is established by taking a six-axis robot as an example in the present embodiment.

And S102, determining the spatial rectangular coordinate of the target point of the current movement of the mechanical arm.

Specifically, the target point of the current movement of the robot arm is determined in the spatial rectangular coordinate system established in step S101, and the spatial rectangular coordinate of the target point is obtained as (X)₀，Y₀，Z₀)。

S103, determining the motion direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point.

Specifically, according to the spatial rectangular coordinates of the target point, the movement angle of the target point in the horizontal direction relative to the coordinate origin and the movement angle of the target point in the vertical direction are split. And then determining initial coordinate parameter values of each arm section of the mechanical arm. In this embodiment, taking the six-axis robot arm as an example, the initial coordinate parameter values of each arm joint of the robot arm are shown in table 1:

arm section	θi(°)	di(mm)	ai(mm)	αi(°)
					1	0	136	280	0
2	90	148	0	90
					3	90	0	220	0
4	-90	0	-154	0
					5	0	0	-72	-90
6	0	0	0	0

TABLE 1

And establishing a homogeneous transformation matrix according to the initial coordinate parameter values of the arm sections and the coordinate parameter values of the target points. The specific homogeneous transformation matrix is:

wherein, theA homogeneous transformation matrix for the nth arm segment.

Then the rotation angle theta of the nth arm section is calculated according to the following formula_n，θ_n＝[Tn]*[⁰A₁]^-1*[¹A₂]^-1…[^{n -1}A_n]^-1。

At theta₂For the purpose of example only,similarly, the rotation angles of the other arm segments are sequentially obtained according to the above steps, so that the rotation angle of each arm segment of the robot arm can be obtained.

And S104, controlling each arm section of the mechanical arm to move according to the preset movement direction and the preset rotation angle by the control system.

It should be noted that the arm sections of the robot arm move simultaneously.

The embodiment also provides an automatic stretching mechanical arm control system, which comprises,

the receiving module is used for receiving the spatial rectangular coordinate of the target point of the current movement of the mechanical arm;

the calculation module is used for calculating the movement direction and the rotation angle of each arm section of the mechanical arm according to the spatial rectangular coordinates of the target point;

and the main control module is used for receiving the calculation data transmitted by the calculation module and controlling the movement of each arm section of the mechanical arm according to the calculation data.

Wherein: the calculation module deduces the rotation angle of each arm joint of the mechanical arm according to the homogeneous rotation matrix, wherein the homogeneous rotation matrix is as follows:

wherein, the [ alpha ], [ beta ] -a^n-1A_n]A homogeneous transformation matrix for the nth arm segment;

and calculating the rotation angle theta of the nth arm section according to the following formula_n，θ_n＝[Tn]*[⁰A₁]^-1*[¹A₂]^-1…[^n-1A_n]^-1。

In addition, the automatic stretching mechanical arm control system further comprises a data storage module, and the data storage module is connected with the main control module. The main control module transmits the spatial rectangular coordinate of the target point and the calculated movement parameters corresponding to each arm section of the mechanical arm to the data storage module, and the data storage module transmits and combines the spatial rectangular coordinate of the target point and the movement parameters corresponding to each arm section of the mechanical arm for storage. In the subsequent operation process, if the space rectangular coordinate of the input target point is consistent with the space rectangular coordinate of a certain target point in the data storage module, the corresponding movement parameters of each arm section of the corresponding mechanical arm can be called, so that the calculation process is omitted.

In addition to the above embodiments, the present invention may have other embodiments; all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.