CN102310407B - Bionic control method and control system of mechanical arm - Google Patents
Bionic control method and control system of mechanical arm Download PDFInfo
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- CN102310407B CN102310407B CN201110102757.8A CN201110102757A CN102310407B CN 102310407 B CN102310407 B CN 102310407B CN 201110102757 A CN201110102757 A CN 201110102757A CN 102310407 B CN102310407 B CN 102310407B
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Abstract
The invention relates to a bionic control method of a mechanical arm. Control equipment is produced for simulating various joint positions of an arm. Various joints of the control equipment correspond to various sections of arm frames of the mechanical arm. The method comprises the following steps of: simulating motion processes of various sections of arm frames of the mechanical arm by the control equipment, and generating angle change values of various joints according to the motion processes; and calculating motion angle values of various sections of arm frames of the mechanical arm according to the angle change values of various joints, and controlling various sections of arm frames of the mechanical arm to rotate correspondingly. The method provided by the invention further comprises the following steps of: simulating motions of various sections of arm frames of the mechanical arm by the control equipment, and generating current angle values of various joints; and controlling various sections of arm frames of the mechanical arm to rotate in corresponding angles according to the current angle values of various joints. According to the invention, the mechanical arm is operated by an operator through bionic motions so that various sections of arm frames of the mechanical arm act simultaneously; the mechanical arm is coherent to act; the motion process is steady; the motion change of the remote end of the mechanical arm is small; and the accuracy for the mechanical arm to reach an appointed position is effectively increased.
Description
Technical field
The present invention relates to engineering machinery and control technical field, particularly a kind of mechanical arm biomimetic control method and control system.
Background technology
Many large-scale engineering machineries, particularly have the engineering machinery of more piece jib or bending structure mechanical arm, and such as concrete mixer, crane, excavator etc., need to accurately control mechanical arm, meets job requirements.At present, the control mode of traditional mechanical arm adopts the control mode of hydraulic manual and wireless remote control, by each shoulder joint of Artificial Control mechanical arm, makes controll plant " step one is moving " move to target location.
Referring to Fig. 1, existing machinery arm control system schematic diagram is shown, comprise master controller 11, with master controller 11 wireless connections, the remote controller 12 of the master controller 11 that sends control information; Be connected with master controller 11, for showing the display 13 of mechanical arm 15 course of action; Be arranged on mechanical arm 15 each joints, promote jib banked direction control valves 17 and the hydraulic jack 16 of mechanical arm 15 actions; Be arranged on mechanical arm 15, for obtaining the various kinds of sensors 14 of manipulator motion status information.
During work, remote controller 12 master controller 11 that sends control information, master controller 11 by this control information after corresponding calculating, sending controling instruction is to jib banked direction control valves 17,17 actions of jib banked direction control valves, band hydraulic cylinder 16 synchronization actions, promote mechanical arm 15 and move accordingly; Various kinds of sensors 14 sends to master controller 11 by mechanical arm 15 current state informations, and master controller 11 is according to the current location of this current state information judgement mechanical arm.
Although above-mentioned mechanical arm control system can make mechanical arm 15 arrive assigned address, but the jib that respectively saves that need to control personnel " step one moving " and control mechanical arm moves successively, in control procedure mechanical arm action discontinuous, motion process is not steady, mechanical arm remote action changes greatly, and accuracy is lower.And this control procedure length consuming time, power consumption is large, and control efficiency is lower.
Summary of the invention
The object of the invention is a kind of mechanical arm biomimetic control method, the method effectively improves control accuracy and the control efficiency of mechanical arm.
A kind of mechanical arm biomimetic control of the present invention method, each joint position of simulation human arm is made control appliance, the corresponding mechanical arm in each joint of control appliance respectively saves jib, the method comprises the following steps: described control appliance analog mechanical arm respectively saves the course of action of jib, according to course of action, generates each joint angles changing value; According to each joint angles changing value, calculating machine arm respectively saves jib and needs move angle value, controls mechanical arm and respectively saves the corresponding rotation of jib.
Preferably, before control mechanical arm respectively saves jib corresponding actions, also comprise: judge that mechanical arm respectively saves jib and needs move angle value whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, do not control mechanical arm action, until the next control action of control appliance sends.
Preferably, also comprise: according to course of action, generate each joint angle velocity variations value; According to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, controls mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
Preferably, control before mechanical arm respectively saves jib corresponding actions, also comprise: judge that mechanical arm respectively saves jib and needs traveling angle velocity amplitude whether within tolerance band, as no, with the magnitude of angular velocity of being scheduled to, move.
Preferably, described control appliance is provided with enable button, and the method also comprises: touch enable button, send the preset control information that enables; According to enabling control information, control mechanical arm action.
Preferably, described control appliance is provided with rotary knob, and the method also comprises: touch rotary knob, send rotation control information; According to rotation control information, control mechanical arm and carry out corresponding spinning movement.
The present invention also provides a kind of mechanical arm biomimetic control system, and this system effectively improves control accuracy and the control efficiency of mechanical arm.
A kind of mechanical arm biomimetic control of the present invention system, comprises the control appliance of simulating each joint position of human arm, making, and corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on control appliance is provided with obliquity sensor; Also comprise master controller, master controller comprises angle calculation module and the first control module: described control appliance, respectively saves the course of action of jib for analog mechanical arm; Obliquity sensor, for generate each joint angles changing value according to course of action, sends to angle calculation module; Angle calculation module, for according to each joint angles changing value, calculating machine arm respectively saves jib and needs move angle value; The first control module, respectively saves the corresponding rotation of jib for controlling mechanical arm.
Preferably, master controller also comprises the first security module, for judging that mechanical arm respectively saves jib and needs move angle value whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, does not control mechanical arm action, until the next control action of control appliance sends.
Preferably, on each joint of described control appliance, be also provided with angular-rate sensor, described master controller also comprises angular speed calculation module and the second control module: angular-rate sensor, for generate each joint angle velocity variations value according to course of action, sends to angular speed calculation module; Angular speed calculation module, for according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude; The second control module, respectively saves the corresponding rotational angular velocity of jib for controlling mechanical arm.
Preferably, master controller also comprises the second security module, for judging that mechanical arm respectively saves jib and needs traveling angle velocity amplitude whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs traveling angle velocity amplitude, does not control mechanical arm action, until the next control action of control appliance sends.
Preferably, described control appliance is provided with enable button, and master controller also comprises enable module; Enable button, sends when being touched and presetly enables control information to enable module; Enable module, for controlling mechanical arm enforcement deliberate action according to enabling control information.
Preferably, described control appliance is provided with rotary knob, and master controller also comprises rotary module; Rotary knob, sends rotation control information when being touched to rotary module; Rotary module, carries out corresponding spinning movement for controlling mechanical arm according to rotation control information.
The present invention also provides a kind of mechanical arm biomimetic control method, and the method effectively improves control accuracy and the control efficiency of mechanical arm.
A kind of mechanical arm biomimetic control of the present invention method, each joint position of simulation human arm is made control appliance, the corresponding mechanical arm in each joint of control appliance respectively saves jib, the method comprises the following steps: described control appliance analog mechanical arm respectively saves jib action, and described control appliance upper sensor generates the current angle value in each joint; According to the current angle value in each joint, control mechanical arm respectively saves jib and turns to respective angles.
Preferably, also comprise: according to course of action, generate each joint angle velocity variations value; According to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, controls mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
The present invention also provides a kind of mechanical arm biomimetic control system, and this system effectively improves control accuracy and the control efficiency of mechanical arm.
A kind of mechanical arm biomimetic control of the present invention system, the control appliance that each joint position of simulation human arm is made, the corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on control appliance is provided with obliquity sensor: described control appliance, respectively saves jib action for analog mechanical arm; Described obliquity sensor, for generating the current angle value in each joint, sends to master controller; Described master controller, for according to the current angle value in each joint, controls mechanical arm and respectively saves jib and turn to respective angles.
Preferably, on each joint of described control appliance, be also provided with angular-rate sensor, described master controller also comprises angular speed calculation module and the second control module: angular-rate sensor, for generate each joint angle velocity variations value according to course of action, sends to angular speed calculation module; Angular speed calculation module, for according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude; The second control module, respectively saves the corresponding rotational angular velocity of jib for controlling mechanical arm.
Compared with prior art, the present invention has the following advantages:
Manipulator of the present invention, by bionical motion action mechanical arm, moves the jib that respectively saves of mechanical arm simultaneously, and mechanical arm action is coherent, and motion process is steady, and mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, consuming time short, consumes energy little, and control efficiency is higher.
Accompanying drawing explanation
Fig. 1 is existing machinery arm control system schematic diagram;
Fig. 2 is mechanical arm structural representation;
Fig. 3 is control appliance structural representation of the present invention;
Fig. 4 is mechanical arm biomimetic control method the first embodiment flow chart of the present invention;
Fig. 5 is mechanical arm biomimetic control method the second embodiment flow chart of the present invention;
Fig. 6 is mechanical arm biomimetic control method the 3rd embodiment flow chart of the present invention;
Fig. 7 is mechanical arm biomimetic control system schematic of the present invention;
Fig. 8 is bionical another control method flow chart of mechanical arm of the present invention;
Fig. 9 is bionical another control system schematic diagram of mechanical arm of the present invention.
The specific embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
People's finger reaches 18 to the joint of arm shoulder, joint point-blank reaches 6, joint that can flexible rotating has 3, and the 3rd joint of hand thumb is due to special muscle mechanism, also can provide certain rotary moveable, therefore applying in a flexible way of the joint by hand, can effectively complete the bionical action of all kinds of mechanical arms.The present invention simulates each joint position of human arm, makes and may be worn on the control appliance on arm, and the corresponding mechanical arm in each joint of control appliance respectively saves jib.Control appliance is by the action of bionical action simulation mechanical arm, control mechanical arm corresponding actions, Synchronization Control more piece jib arrives specified angle or position, complete corresponding action, originally complicated operational motion is become simply, and the serial action originally completing step by step, can very naturally operate by biomimetic control concurrently, Optimum Operation flow process, increases work efficiency greatly.
Illustrate control appliance of the present invention.
Referring to Fig. 2 and Fig. 3, mechanical arm structural representation and control appliance structural representation are shown respectively, mechanical arm comprises rig floor, jib B1, the jib B2, jib B3 and the jib B4 that are flexibly connected successively, each saves on jib and is all provided with and promotes the hydraulic jack that jib rotates.
Control appliance comprises joint G1, joint G2, G3He joint, the joint G4 of flexible connection, on each joint, is equipped with sensor, is used for responding to rotational angle and the velocity of rotation in each joint.Joint G1, joint G2, joint G 3 and joint G4 are corresponding with jib B1, jib B2, jib B3 and jib B4 successively, and the action message in each joint sends to controller by sensor, control corresponding jib follow action by controller.
Control appliance of the present invention is not only applicable to the mechanical arm of 4 joint jibs, the various mechanical arms more than being yet suitable for 4 joint jibs and below 4 joint jibs.
Mechanical arm biomimetic control method of the present invention the first embodiment.
Referring to Fig. 4, concrete steps are as follows.
Step S401, control appliance analog mechanical arm respectively save the course of action of jib, and described control appliance upper sensor generates each joint angles changing value according to course of action, sends to master controller.
Control appliance of the present invention can be designed to be able to be set on the shape on thumb or forefinger, or by the shape of auxiliary equipment bind on hand joint, each joint of control appliance and each joint of human arm match.While controlling, manipulator controls control appliance by arm, and because the position in each joint of control appliance and structure and human arm adapt, each joint of control appliance can be flexibly with manipulator's arm synchronization action.Each joint of control appliance is provided with sensor, and sensor detects each joint angles change information of control appliance, and each joint angles change information is sent to master controller by wireless or wired mode.
Step S402, described master controller are according to each joint angles changing value, and calculating machine arm respectively saves jib and needs move angle value, control mechanical arm and respectively save the corresponding rotation of jib.
The jib that respectively saves of mechanical arm is provided with sensor, and sensor sends to master controller by the current jib angle information that respectively saves of mechanical arm, and master controller gets each joint angles change information, and calculating machine arm respectively saves jib and needs move angle value, is calculated as follows:
θ '=a+b θ formula 1
θ is certain joint angles changing value, and θ ' needs move angle value for mechanical arm one corresponding to this joint saves jib, and a is a undetermined coefficient, can be according to different mode setting (manually or automatically); B is variation coefficient.By the difference of angular transition in two coordinate systems of undetermined coefficient a configuration of this joint jib, carry out respective angles calibration, by the ratio that in two coordinate systems of variation coefficient b configuration, angle changes.
Through type 1, master controller successively calculating machine arm respectively saves jib and needs move angle value, controls each hydraulic jack of mechanical arm and works accordingly, makes respectively to save jib and moves simultaneously, allows mechanical arm arrive and formulates position.
Manipulator of the present invention, by bionical motion action mechanical arm, moves the jib that respectively saves of mechanical arm simultaneously, and mechanical arm action is coherent, and motion process is steady, and mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, consuming time short, consumes energy little, and control efficiency is higher.
Mechanical arm biomimetic control method of the present invention the second embodiment.This embodiment and the main distinction embodiment illustrated in fig. 4 are to increase mechanical arm angular speed control program.
Referring to Fig. 5, concrete steps are as follows.
Step S501, control appliance analog mechanical arm respectively save the course of action of jib, and described control appliance upper sensor generates each joint angles changing value and each joint angle velocity variations value according to course of action, sends to master controller.
Each joint of control appliance is not only provided for the obliquity sensor of detection angles changing value, is also provided for detecting the angular-rate sensor of angular velocity varies.Certainly, the present invention also can be by calculating and obtain angular velocity varies value obliquity sensor signal differential sequence.
Step S502, described master controller are according to each joint angles changing value, calculating machine arm respectively saves jib and needs move angle value, according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, and need move angle value and magnitude of angular velocity according to each joint jib, control mechanical arm and respectively save jib corresponding actions.
Mechanical arm respectively saves the obliquity sensor that jib is not only provided for detection angles changing value, is also provided for detecting the angular-rate sensor of angular velocity varies.Obliquity sensor and angular-rate sensor send to master controller by detected value.
Master controller is calculated as follows:
θ '=a+b θ formula 1
ω '=c+d ω formula 2
In formula 1, θ is certain joint angles changing value, and θ ' needs move angle value for mechanical arm one corresponding to this joint saves jib, and a is a undetermined coefficient, and b is variation coefficient.In formula 2, ω is certain joint angle velocity variations value, and ω ' needs traveling angle velocity amplitude for mechanical arm one corresponding to this joint saves jib, and c is a undetermined coefficient, can be according to different mode setting (manually or automatically), and d is variation coefficient.
In scheme shown in this embodiment, according to biomimetic control, control move angle and the angular speed that mechanical arm respectively saves jib simultaneously, can more convenient manipulator control the translational speed of mechanical arm, further improve control efficiency.
Mechanical arm biomimetic control method the 3rd embodiment of the present invention.This embodiment and the main distinction embodiment illustrated in fig. 5 are to increase the filtering scheme to dangerous control instruction.
Referring to Fig. 6, concrete steps are as follows.
Step S601, control appliance analog mechanical arm respectively save the course of action of jib, and described control appliance upper sensor generates each joint angles changing value and each joint angle velocity variations value according to course of action, sends to master controller.
Step S602, described master controller are according to each joint angles changing value, and calculating machine arm respectively saves jib and needs move angle value.
Step S603, described master controller judge that mechanical arm respectively saves jib and needs move angle whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, after filtering, do not control mechanical arm action, until the next control action of control appliance sends; In this way, forward step S606 to.
Step S604, according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude.
Step S605, described master controller judge that mechanical arm respectively saves jib and needs traveling angle speed whether within tolerance band, and as no, filtering mechanical arm respectively saves jib and needs traveling angle velocity amplitude, with the magnitude of angular velocity action of being scheduled to; In this way, forward step S606. to
Step S606, according to each joint jib, need move angle value and magnitude of angular velocity, control mechanical arm and respectively save jib corresponding actions.
The present invention is by needing move angle value and magnitude of angular velocity reasonably to screen to each joint jib, and filtering may cause the unsafe control instruction of mechanical arm, effectively improves the security of controlling mechanical arm action in process.
For improving the ena-bung function of control appliance, the present invention is provided with enable button on control appliance, completes the operation of the ena-bung function such as time-out, and specific implementation step is:
Touch enable button, described control appliance transmission is preset enables control information to master controller;
Described master controller is controlled mechanical arm action according to enabling control information.
For better completing the spinfunction of mechanical arm, as the rotation of turntable, the present invention is provided with rotary knob on control appliance, and specific implementation step is:
Touch rotary knob, described control appliance sends rotation control information to master controller;
Described master controller is controlled mechanical arm according to rotation control information and is carried out corresponding spinning movement.
According to aforementioned mechanical arm biomimetic control method, the present invention also provides a kind of mechanical arm biomimetic control system.See Fig. 7, this system comprises mechanical arm 70, each joint position of simulation human arm, making may be worn on the control appliance 71 on arm, the corresponding mechanical arm in each joint of control appliance 71 respectively saves jib, each joint on control appliance 71 is provided with obliquity sensor 711 and angular-rate sensor 712, and enable button 713 and rotary knob 714; Also comprise master controller 72, master controller 72 comprises angle calculation module 721, the first control module 722, the first security module 723, angular speed calculation module 724, the second control module 725, the second security module 726, enable module 727 and rotary module 728.
Described control appliance 71 analog mechanical arms 70 respectively save the pre-course of action of jib;
Obliquity sensor 711 generates each joint angles changing value according to course of action, send to angle calculation module 721, angle calculation module 721 is according to each joint angles changing value, calculating machine arm respectively saves jib and needs move angle value, send to the first security module 723, the first security module 723 judges that mechanical arm respectively saves jib and needs move angle value whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, after filtering, do not control mechanical arm action, until the next control action of control appliance sends; In this way, start the first control module 722, the first control modules 722 control mechanical arms 70 and respectively save the corresponding rotation of jib.
Angular-rate sensor 712 generates each joint angle velocity variations value according to course of action, send to angular speed calculation module 724, angular speed calculation module 724 is according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, send to the second security module 726, the second security modules 726 and judge that mechanical arm respectively saves jib and needs traveling angle velocity amplitude whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs traveling angle velocity amplitude, with the magnitude of angular velocity action of being scheduled to; In this way, start the second control module 725, the second control modules 725 control mechanical arms 70 and respectively save the corresponding rotational angular velocity of jib.
Enable button 713 sends while being touched and presetly enables control information to enable module 727, and enable module 727 is controlled mechanical arm corresponding actions according to enabling control information.
When rotary knob 714 is touched, send rotation control information to rotary module 728, rotary module 728 is controlled mechanical arm according to rotation control information and is carried out corresponding spinning movement.
The present invention also can be according to the current angle value in each joint after control appliance action, controls mechanical arm and respectively saves jib and turn to respective angles, makes mechanical arm respectively save each joint of angle and control appliance of jib consistent.This control mode and embodiment illustrated in fig. 4 be all based on control appliance, belong to same inventive concept.
Referring to Fig. 8, concrete steps are as follows.
Step S801, control appliance analog mechanical arm respectively save jib action, and control appliance upper sensor generates the current angle value in each joint, sends to master controller.
Step S802, master controller are according to the current angle value in each joint, and control mechanical arm respectively saves jib and turns to respective angles.
The method control appliance also can generate each joint angle velocity variations value according to course of action; Master controller is according to each joint angle velocity variations value, and calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, controls mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
Manipulator of the present invention is by bionical motion action mechanical arm, make mechanical arm respectively save each joint of angle and control appliance of jib identical, mechanical arm action is coherent like this, and motion process is steady, mechanical arm remote action changes less, effectively improves the accuracy that mechanical arm arrives assigned address.And this control procedure control action is easy to learn, consuming time short, consumes energy little, and control efficiency is higher.
According to the biomimetic control of mechanical arm shown in Fig. 8 method, the present invention also provides a kind of mechanical arm biomimetic control system.See Fig. 9, mechanical arm 70, each joint position of simulation human arm, making may be worn on the control appliance 71 on arm, and corresponding mechanical arm in each joint of control appliance 71 respectively saves jib, and each joint on control appliance 71 is provided with obliquity sensor 91; Also comprise master controller 92.
Control appliance 71 analog mechanical arms respectively save jib action, and obliquity sensor 91 generates the current angle value in each joint, sends to master controller 92, and master controller 92 is according to the current angle value in each joint, and control mechanical arm respectively saves jib and turns to respective angles.
On each joint of control appliance 71, also can be provided with angular-rate sensor, master controller 92 also comprises angular speed calculation module and the second control module: angular-rate sensor, for generating each joint angle velocity variations value according to course of action, send to angular speed calculation module; Angular speed calculation module, for according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude; The second control module, respectively saves the corresponding rotational angular velocity of jib for controlling mechanical arm.
The foregoing is only the preferred embodiment of the present invention, do not form limiting the scope of the present invention.Any any modification of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.
Claims (12)
1. a mechanical arm biomimetic control method, is characterized in that, each joint position of simulation human arm is made control appliance, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, on each joint, is equipped with joint sensors; Described joint sensors is used for responding to the rotational angle in each joint; The method comprises the following steps:
Described control appliance analog mechanical arm respectively saves the course of action of jib, according to course of action, generates each joint angles changing value; Described each joint angles changing value is sent to master controller, and described master controller is according to each joint angles changing value, and calculating machine arm respectively saves jib needs move angle value; Control mechanical arm and respectively save the corresponding rotation of jib;
According to each joint angles changing value, calculating machine arm respectively saves jib needs move angle value to be specially: θ '=a+b θ;
θ is certain joint angles changing value, and θ ' needs move angle value for mechanical arm one corresponding to this joint saves jib, and a is a undetermined coefficient; B is variation coefficient; By a, configure the difference of angular transition in two coordinate systems, carry out respective angles calibration, by b, configure the ratio that in two coordinate systems, angle changes.
2. the method for claim 1, is characterized in that, control mechanical arm also comprises before respectively saving jib corresponding actions:
Judge that mechanical arm respectively saves jib and needs move angle value whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, does not control mechanical arm action, until the next control action of control appliance sends.
3. the method for claim 1, is characterized in that, also comprises:
According to course of action, generate each joint angle velocity variations value;
According to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude, controls mechanical arm and respectively saves the corresponding rotational angular velocity of jib.
4. method as claimed in claim 3, is characterized in that, control mechanical arm also comprises before respectively saving jib corresponding actions:
Judge that mechanical arm respectively saves jib and needs traveling angle velocity amplitude whether within tolerance band, as no, with the magnitude of angular velocity action of being scheduled to.
5. the method as described in claim 1-4 any one, is characterized in that, described control appliance is provided with enable button, and the method also comprises:
Touch enable button, send the preset control information that enables;
According to enabling control information, control mechanical arm action.
6. the method as described in claim 1-4 any one, is characterized in that, described control appliance is provided with rotary knob, and the method also comprises:
Touch rotary knob, send rotation control information;
According to rotation control information, control mechanical arm and carry out corresponding spinning movement.
7. a mechanical arm biomimetic control system, is characterized in that, comprises the control appliance that each joint position of simulation human arm is made, and the corresponding mechanical arm in each joint of control appliance respectively saves jib, and each joint on control appliance is provided with obliquity sensor; Also comprise master controller, described master controller comprises angle calculation module and the first control module:
Described control appliance, respectively saves the course of action of jib for analog mechanical arm;
Described obliquity sensor on each joint, for generate each joint angles changing value according to course of action, sends to angle calculation module;
Described angle calculation module, for according to described each joint angles changing value, calculating machine arm respectively saves jib and needs move angle value;
The first control module, needs move angle value control mechanical arm respectively to save the corresponding rotation of jib for respectively save jib according to described mechanical arm; Described mechanical arm respectively saves jib needs move angle value to be: θ '=a+b θ;
θ is certain joint angles changing value, and θ ' needs move angle value for mechanical arm one corresponding to this joint saves jib, and a is a undetermined coefficient; B is variation coefficient; By a, configure the difference of angular transition in two coordinate systems, carry out respective angles calibration, by b, configure the ratio that in two coordinate systems, angle changes.
8. system as claimed in claim 7, it is characterized in that, master controller also comprises the first security module, be used for judging that mechanical arm respectively saves jib and needs move angle value whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs move angle value, does not control mechanical arm action, until the next control action of control appliance sends.
9. system as claimed in claim 7, is characterized in that, on each joint of described control appliance, is also provided with angular-rate sensor, and described master controller also comprises angular speed calculation module and the second control module:
Angular-rate sensor, for generate each joint angle velocity variations value according to course of action, sends to angular speed calculation module;
Angular speed calculation module, for according to each joint angle velocity variations value, calculating machine arm respectively saves jib and needs traveling angle velocity amplitude;
The second control module, respectively saves the corresponding rotational angular velocity of jib for controlling mechanical arm.
10. system as claimed in claim 7, it is characterized in that, master controller also comprises the second security module, be used for judging that mechanical arm respectively saves jib and needs traveling angle velocity amplitude whether within tolerance band, as no, filtering mechanical arm respectively saves jib and needs traveling angle velocity amplitude, does not control mechanical arm action, until the next control action of control appliance sends.
11. systems as described in claim 7-10 any one, is characterized in that, described control appliance is provided with enable button, and master controller also comprises enable module;
Enable button, sends when being touched and presetly enables control information to enable module;
Enable module, for controlling mechanical arm enforcement deliberate action according to enabling control information.
12. systems as described in claim 7-10 any one, is characterized in that, described control appliance is provided with rotary knob, and master controller also comprises rotary module;
Rotary knob, sends rotation control information when being touched to rotary module;
Rotary module, carries out corresponding spinning movement for controlling mechanical arm according to rotation control information.
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| JPH02279285A (en) * | 1989-04-19 | 1990-11-15 | Toshiba Corp | Method and device for controlling master/slave manipulator |
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| CN1481298A (en) * | 2002-04-12 | 2004-03-10 | 三菱电机株式会社 | Robot |
| CN101102869A (en) * | 2004-11-24 | 2008-01-09 | 佩里·斯林斯里***有限公司 | Control system for an articulated manipulator arm |
| CN101633168A (en) * | 2009-07-28 | 2010-01-27 | 三一重工股份有限公司 | Control method and control system of large engineering manipulator |
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