CN114378813B - Control method and device for mechanical arm and computer readable medium - Google Patents
Control method and device for mechanical arm and computer readable medium Download PDFInfo
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- CN114378813B CN114378813B CN202111559460.4A CN202111559460A CN114378813B CN 114378813 B CN114378813 B CN 114378813B CN 202111559460 A CN202111559460 A CN 202111559460A CN 114378813 B CN114378813 B CN 114378813B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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Abstract
The invention provides a control method, a control device and a computer readable medium of a mechanical arm, wherein the method comprises the following steps: acquiring length parameters of a mechanical arm; acquiring a first parameter in the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing the included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm; calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; and controlling the mechanical arm according to the calculated second parameter. The control accuracy of robotic arm can be improved to this scheme.
Description
Technical Field
The present invention relates to the field of industrial technologies, and in particular, to a method and apparatus for controlling a mechanical arm, and a computer readable medium.
Background
In the field of industrial production, the efficiency of industrial production can be greatly improved by allowing a manipulator to participate in industrial production. For example, by using the parallel mechanical arm to feed and discharge, the production efficiency of rotary disc type screen printing is greatly improved.
However, as industry demands become higher, the working environment of the robot arm becomes more complex. For example, there are some circumstances where there is a limit to the angle of the robot arm and some circumstances where there is a limit to the working position of the robot arm. Therefore, the mechanical arm is controlled in a fixed mode in different environments, which tends to result in lower control precision.
Disclosure of Invention
The invention provides a control method and device of a mechanical arm and a computer readable medium, which can improve the control precision of the mechanical arm.
In a first aspect, an embodiment of the present invention provides a method for controlling a mechanical arm, including:
acquiring length parameters of a mechanical arm;
acquiring first parameters of the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; the method comprises the steps of,
and controlling the mechanical arm according to the calculated second parameter.
In one possible implementation manner, the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter comprises the following steps:
acquiring the distance between the main arm connection points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; wherein the joint point is used for representing a connection point of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
In one possible implementation manner, the step of calculating joint point coordinate information of the mechanical arm includes:
calculating joint point information according to the joint point distance of the main arm, the length and the angle of the mechanical main arm; the angle is used for representing an included angle between the mechanical main arm and a mechanical arm fixing plane, and the joint point is used for representing a connecting point of the mechanical main arm and the mechanical auxiliary arm.
In one possible implementation manner, the step of calculating the joint point information according to the main arm joint distance, the mechanical main arm length and the angle includes:
calculating the joint point coordinate information by using the following calculation formula:
wherein D is x Abscissa information for characterizing an articulation point, D y Ordinate information for characterizing the articulation point, L for characterizing the main arm articulation point spacing, L 1 For characterizing the length, theta, of the mechanical main arm 0 For characterizing the angle.
In a possible implementation manner, when the included angle between the installation plane of the mechanical arm and the horizontal plane is θ, the step of determining the working position parameter of the mechanical arm according to the joint point coordinate information includes:
the working position coordinates are calculated using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the calculating the joint point coordinate information of the mechanical arm comprises the following steps: joint point coordinate information is calculated for each pair of the master arm and the slave arm.
In one possible implementation manner, the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter comprises the following steps:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In a possible implementation manner, the step of calculating the angle parameter by using the driving distance, the length of the mechanical master arm, the length of the mechanical slave arm and the working position parameter includes:
calculating an included angle between the mechanical main arm and the mechanical arm fixing plane by using the driving distance, the mechanical main arm length, the mechanical auxiliary arm length and the working position parameters; wherein the driving distance is used for representing the distance between the driving point and the working position of the mechanical main arm.
In a possible implementation manner, when the installation plane of the mechanical arm is parallel to the horizontal plane, the step of determining the working position parameter includes:
acquiring working position coordinates [ x ', y' ] of the installation plane of the mechanical arm when the installation plane is not parallel to the horizontal plane;
the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane are calculated by using the following calculation formula:
and [ x, y ] is used for representing the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the step of calculating the angle parameter includes: the angle parameters are calculated for each pair of the master and slave arms, respectively.
In a second aspect, an embodiment of the present invention provides a control device for a mechanical arm, including: the system comprises a length parameter acquisition module, a first parameter acquisition module, a second parameter calculation module and a mechanical arm control module;
the length parameter acquisition module is used for acquiring the length parameter of the mechanical arm;
the first parameter acquisition module is used for acquiring first parameters in the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
The second parameter calculation module is used for calculating a second parameter in the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module and the length parameter acquired by the length parameter acquisition module; the method comprises the steps of,
the mechanical arm control module is used for controlling the mechanical arm according to the second parameter calculated by the second parameter calculation module.
In one possible implementation manner, the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module is configured to perform the following operations when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter:
acquiring the distance between the main arm connection points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
Calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; wherein the joint point is used for representing a connection point of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
In one possible implementation manner, the second parameter calculation module is configured to calculate joint point information according to the main arm joint distance, the mechanical main arm length and the angle when calculating the joint point coordinate information of the mechanical arm; the angle is used for representing an included angle between the mechanical main arm and a mechanical arm fixing plane, and the joint point is used for representing a connecting point of the mechanical main arm and the mechanical auxiliary arm.
In one possible implementation, the second parameter calculation module is configured to perform the following operations when calculating the node information according to the main arm connection point distance, the mechanical main arm length and the angle:
calculating the joint point coordinate information by using the following calculation formula:
wherein D is x Abscissa information for characterizing an articulation point, D y Ordinate information for characterizing the articulation point, L for characterizing the main arm articulation point spacing, L 1 For characterizing the length, theta, of the mechanical main arm 0 For characterizing the angle.
In one possible implementation, the method further includes: a first location parameter determination module;
the first position parameter determining module is configured to execute the following operations when an included angle between an installation plane of the mechanical arm and a horizontal plane is theta and working position parameters of the mechanical arm are determined according to the joint point coordinate information:
the working position coordinates are calculated using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the second parameter calculation module is configured to calculate joint point coordinate information for each pair of the master arm and the slave arm when calculating the joint point coordinate information of the manipulator arm.
In one possible implementation manner, the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
The mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module is configured to perform the following operations when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
and calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
In one possible implementation, the second parameter calculation module is configured to, when calculating the angle parameter using the driving distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameter, perform the following operations:
calculating an included angle between the mechanical main arm and the mechanical arm fixing plane by using the driving distance, the mechanical main arm length, the mechanical auxiliary arm length and the working position parameters; wherein the driving distance is used for representing the distance between the driving point and the working position of the mechanical main arm.
In one possible implementation, the method further includes: a second location parameter determination module;
the second position parameter determining module is configured to perform the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] of the installation plane of the mechanical arm when the installation plane is not parallel to the horizontal plane;
the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane are calculated by using the following calculation formula:
and [ x, y ] is used for representing the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the second parameter calculation module, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of the master arm and the slave arm, respectively.
In a third aspect, embodiments of the present invention also provide a computing device, including: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
The at least one processor is configured to invoke the machine readable program to perform the method of any of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of the first aspects.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the first aspects.
According to the technical scheme, when the mechanical arm is controlled, the length parameter of the mechanical arm can be firstly obtained, then the first parameter of one of the angle parameter and the working position parameter of the mechanical arm is obtained, and the second parameter of the other one of the angle parameter and the working position parameter can be calculated by utilizing the first parameter and combining the obtained length parameter, so that the mechanical arm can be controlled by utilizing the second parameter. Therefore, the mechanical arm can be controlled in the environment where the angle parameters can be obtained, and also can be controlled in the environment where the working position parameters can be obtained. Therefore, by accurately calculating another control parameter by using the known parameter under different environments, higher control precision can be ensured when the control parameter is used for controlling the mechanical arm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mechanical arm according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calculating operating position parameters according to an embodiment of the present invention;
FIG. 4 is a schematic view of another mechanical arm according to an embodiment of the present invention;
FIG. 5 is a schematic view of a non-horizontally mounted robot arm according to one embodiment of the present invention;
FIG. 6 is a flowchart of a method for calculating an angle parameter according to an embodiment of the present invention;
FIG. 7 is a schematic view of a mechanical arm according to another embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a control device for a robot arm according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a computing device provided by one embodiment of the invention.
List of reference numerals
101: acquiring length parameters of mechanical arm
102: acquiring a first parameter of the angle parameter and the working position parameter of the mechanical arm
103: according to the first parameter and the length parameter, calculating a second parameter of the angle parameter and the working position parameter
104: controlling the mechanical arm according to the calculated second parameter
200: robot arm 211: first mechanical main arm 212: first mechanical slave arm
221: second main mechanical arm 222: second mechanical slave arm
301: obtaining the distance between the main arm connection points
302: calculating joint point coordinate information of the mechanical arm by using the joint point distance of the main arm, the length and the angle parameters of the mechanical main arm
303: determining working position parameters of the mechanical arm according to the coordinate information of the joint points
601: according to the working position parameter and the distance between the main arm connecting points, calculating the driving distance between the driving point of the mechanical main arm and the working position
602: calculating an angle parameter by using the driving distance, the length of the main arm of the machine, the length of the auxiliary arm of the machine and the working position parameter
801: length parameter acquisition module 802: the first parameter obtaining module 803: second parameter calculation module
804: mechanical arm control module 901: memory 902: processor and method for controlling the same
900: computing device 100: control method 800 of the mechanical arm: control device of mechanical arm
Detailed Description
As before, the manipulator plays a great role in the field of industrial production, which greatly improves the efficiency of industrial production. For example, in rotary plate type screen printing, the beat of feeding and discharging can be improved by using a 2D parallel robot, and the beat of feeding and discharging can be improved by using the robot, so that the printing speed is improved from 50 counts/minute to 70 counts/minute, and the production efficiency is greatly improved.
However, as the application of the mechanical arm is wider and wider, not only the structural requirement on the mechanical arm is higher and higher, but also the application environment is more and more complex, which results in that the working space of the mechanical arm is often limited, thus providing challenges for the control of the mechanical arm. For example, in some environments, the angle of the robot arm may be limited and may only work at a certain angle or range of angles; for another example, in other environments, there is a limit to the working position of the end of the robot arm, and it is necessary to control the robot arm to work at a corresponding angle, so as to enable the end of the robot arm to be located at the working position. Therefore, if the mechanical arm is controlled by adopting a fixed parameter control mode, the control precision of the mechanical arm cannot be ensured obviously, and even the mechanical arm cannot work normally.
Based on the method, the system and the device for controlling the mechanical arm, aiming at two common mechanical arm control parameters, namely the working position parameter and the angle parameter, consider that the known control parameters are utilized to determine another unknown control parameter under different environments, and control the mechanical arm through the obtained control parameters, thereby achieving the purpose of improving the control precision of the mechanical arm.
The following describes a control method, a control device and a computer readable medium of a mechanical arm according to an embodiment of the present invention in detail.
As shown in fig. 1, an embodiment of the present invention provides a method 100 for controlling a mechanical arm, which may include the following steps:
step 101: acquiring length parameters of a mechanical arm;
step 102: acquiring a first parameter in the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing the included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
step 103: calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; the method comprises the steps of,
step 104: : and controlling the mechanical arm according to the calculated second parameter.
As can be seen from the above technical solutions, in this embodiment, when controlling the mechanical arm, the control parameters of the mechanical arm are considered to be used to calculate the control parameters of the mechanical arm under different environments, so that the mechanical arm is controlled by using the control parameters. Therefore, when the mechanical arm is controlled, a flexible parameter control mode can be adopted according to the conditions of environmental factors, space limitation and the like, so that the control precision of the mechanical arm is improved.
As shown in fig. 2, a typical robotic arm 200 may include a master arm and a slave arm; the master arm may further include a first master arm 211 and a second master arm 221, and the slave arm may further include a first slave arm 212 and a second slave arm 222. Therefore, in calculating the joint point coordinate information of the robot arm 200 and determining the angle parameter, each of the master arm and the slave arm of each pair should be calculated separately. Namely, calculating joint point coordinate information aiming at the first mechanical arm and aiming at second joint point coordinate information; and calculating an angle parameter for the first mechanical arm and calculating an angle parameter for the second mechanical arm. The angle between the robot arm 200 and the mounting plane represents the above-mentioned angle parameter, and the position of the end of the robot arm 200, that is, the end position information of the slave arm represents the above-mentioned working position parameter.
As can be seen from the above steps 101 to 104, it is obvious that the present solution may mainly include two scenarios:
scenario one: the angle parameters of the mechanical arm are known, and the working position parameters of the mechanical arm are unknown;
scenario two: the working position parameters of the mechanical arm are known, and the angle parameter position of the mechanical arm is known.
The above scenario one and scenario two will be described below.
1. Scenario one
In controlling the manipulator arm, it is often encountered that the installation space of the manipulator arm is limited, which results in a certain working angle of the manipulator arm, and at this time it is just like the position where the end of the manipulator arm can work needs to be determined according to the determined angle parameter. Therefore, the working point can be arranged at the position which can be reached by the tail end of the mechanical arm, and then the mechanical arm is controlled to work according to the working position parameters.
Thus, when the first parameter is the angle parameter of the mechanical arm and the second parameter is the working position parameter of the mechanical arm, as shown in fig. 3, step 103 may be implemented when calculating the working position parameter of the second parameter according to the first parameter and the length parameter by:
step 301: acquiring the distance between the main arm connection points; the main arm connecting point distance is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
step 302: calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameters; the joint points are used for representing the connection points of the mechanical master arm and the mechanical slave arm;
Step 303: and determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
In this embodiment, the geometrical relationship between the angle of the mechanical arm and the working position of the mechanical arm is considered, so that the working position parameter of the mechanical arm can be accurately calculated by using the angle parameter of the mechanical arm and the length parameter of the mechanical arm, thereby providing a guarantee for high-precision control of the mechanical arm.
In step 302, when calculating the joint point coordinate information of the mechanical arm, the joint point information may be calculated according to the distance between the main arm connection points, the length of the mechanical main arm, and the angle representing the included angle between the mechanical main arm and the mechanical fixing plane.
Of course, as shown in fig. 4, a schematic diagram of a parallel robot arm structure is a scenario, and for the parallel robot arm structure, the parallel robot arm structure includes a first robot arm and a second robot arm, where the first robot arm includes a first master robot arm and a second slave robot arm, and the second robot arm includes a second master robot arm and a second slave robot arm. Therefore, in calculating the joint point coordinate information, the coordinates of the joint point D of the first robot arm and the coordinates of the joint point E of the second robot arm should be calculated, respectively. Further, in step 303, when determining the working position parameter of the mechanical arm according to the coordinate information of the joint point, the working position parameter of the mechanical arm should be determined according to the coordinate of the joint point D of the first mechanical arm and the coordinate of the joint point E of the second mechanical arm.
1.1 coordinate calculation of the articulation point D of the first mechanical arm
As shown in fig. 4, a and B are driving points of the first mechanical main arm and the second mechanical main arm, respectively, and the distance between the driving points is the distance between the connecting points of the main arms, and the planes of the a and B form the installation plane of the mechanical arms. When the coordinates of the joint point D of the first arm are calculated according to the main arm joint pitch, the arm main arm length, and the angle, the calculation can be performed by the following calculation formula:
wherein D is x Abscissa information for characterizing a D-joint, D y Ordinate information for representing D joint points, L for representing main arm joint point spacing and L 1 For characterizing the length, theta, of the main arm of the machine 1 For characterizing the first angle.
As can be seen from the above formula, the distance between the main arm connection points is known,The length and angle of the main arm can then be calculated to obtain the coordinate information of the joint point D. It should be noted that, in the above calculation formula, L represents the distance between the connection points of the main table 1 The length of the first mechanical main arm, θ, should be calculated in this embodiment 1 The included angle between the first main mechanical arm and the mounting plane, i.e. the first angle, should be the first angle.
1.2, coordinate calculation of the joint point E of the second mechanical arm
As shown in fig. 4, when calculating the coordinates of the joint point E of the second arm based on the main arm joint pitch, the arm main length, and the angle, the calculation can be performed by the following calculation formula:
wherein E is x Abscissa information for characterizing E-joint points, E y Ordinate information for characterizing E-joint, L 2 For characterizing the length, theta, of the main arm of the machine 2 For characterizing the second angle.
As can be seen from the above formula, after the main arm joint pitch, the length and the angle of the mechanical main arm have been known, the coordinate information of the joint point E can be obtained by the above formula, respectively. It should also be noted that the above formula represents L representing the pitch of the main table connection points 2 The length of the second main arm, θ, should be calculated in this embodiment 2 The included angle between the second mechanical main arm and the mounting plane, i.e. the second angle, should be the first angle.
1.3 calculation of working position C
In one possible implementation, as shown in fig. 4, when calculating the working position coordinates according to the joint point coordinates, the K point coordinates may be calculated first using the following calculation formula:
wherein, the K point is the intersection point of HC and DE, and H is twoThe joint point is used as a circle center, the distance from the joint point to the working position C is used as the intersection point of circles with radius, K x Abscissa information for characterizing K points, K y The ordinate information used to characterize the K-point, i to characterize the length of DK, and K to characterize the length of DE.
Further, the coordinates of the working position C point are calculated from the obtained K point coordinates using the following calculation formula:
wherein C is x Abscissa information for characterizing point C, C y And the ordinate information used for representing the point C, and h is used for representing the length of KC.
In this way, by using the calculated coordinates of the joint point D, the coordinates of the joint point D, and the coordinates of the K point, the coordinates of the tip end working position C of the robot arm can be accurately calculated.
1.4 coordinate conversion
As the working environment of the robot arm becomes more and more complex, it often happens that the installation of the robot arm is not in a horizontal state. If the mechanical arm is controlled according to the condition of horizontal installation, the control accuracy is reduced. Based on this, as shown in fig. 5, an included angle θ exists between the installation of the mechanical arm and the horizontal plane, and then the coordinate of the C-point working position obtained in the horizontal state may be converted into the coordinate of the C-point working position in the state with the included angle θ by using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
Similarly, if the obtained working position coordinate is a working position coordinate when the installation plane of the mechanical arm is not parallel to the horizontal plane, when determining the working position parameter, the working position coordinate can be converted into a working position coordinate when the installation plane of the mechanical arm is parallel to the horizontal plane by the following calculation formula:
it follows that the solution not only takes into account the space constraints imposed by the different environments, but also the situation of whether the installation is horizontal or not. In this way, even if the installation plane is no longer horizontal, the coordinate conversion can be performed through the calculation, so that the control precision of the mechanical arm is further improved.
2. Scene two
When the mechanical arm is controlled, the position where the tail end of the mechanical arm needs to work is always fixed, and the working angle parameter of the mechanical arm needs to be determined according to the fixed working position parameter. Therefore, the mechanical arm is controlled to work according to the angle parameter, and the tail end working position of the mechanical arm can be ensured to reach a fixed working position.
Thus, when the first parameter is the working position parameter of the mechanical arm and the second parameter is the angle parameter of the mechanical arm, as shown in fig. 6, step 103 may be implemented when calculating the second parameter angle parameter according to the first parameter and the length parameter by:
Step 601: calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the connecting points of the main arm; the main arm connecting point distance is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
step 602: and calculating the angle parameter by using the driving distance, the length of the main mechanical arm, the length of the auxiliary mechanical arm and the working position parameter.
In this embodiment, when the coordinates of the working position C of the mechanical arm can be determined, the driving distance between the driving point of the mechanical main arm and the working position C may be calculated by using the coordinates of the working position and the distance between the connecting points of the main arm, so that the obtained result is further used to determine the angle parameter of the mechanical arm in combination with the parameters such as the length of the mechanical arm. Therefore, the working angle of the mechanical arm is obtained by calculating the working position, and the mechanical arm can move to the target position to be worked more accurately when working.
In step 602, when the driving distance, the length of the master arm, the length of the slave arm, and the working position parameter are used to measure the angle parameters, the driving distance, the length of the master arm, the length of the slave arm, and the working parameters may be used to calculate the included angle between the master arm and the fixed plane of the slave arm.
Fig. 7 is a schematic diagram of a parallel manipulator structure in scenario two, where the parallel manipulator structure includes a first manipulator and a second manipulator, and the first manipulator specifically includes a first master manipulator and a second slave manipulator, and the second manipulator specifically includes a second master manipulator and a second slave manipulator. Therefore, in calculating the driving distance between the driving point of the mechanical main arm and the working position, the driving distance AC between the driving point of the first mechanical main arm and the working position and the driving distance BC between the driving point of the second mechanical main arm and the working position should be calculated, respectively. And further, calculating a first angle between the first mechanical main arm and the mechanical arm fixing plane by using the driving distance AC of the first mechanical arm and the length of the mechanical arm, and calculating a second angle between the second mechanical main arm and the mechanical arm fixing plane by using the driving distance BC of the second mechanical arm and the length of the mechanical arm.
2.1 calculation of the first Angle of the first mechanical arm
As shown in fig. 7, when calculating the first angle of the first robot arm, first, the driving distance AC of the first robot arm is calculated by the following calculation formula using the coordinates C (x, y) of the main arm joint pitch and the working position:
Wherein e is used to characterize 1/2 of the main arm attachment point pitch AB.
As shown in fig. 7, it is apparent that the first angle θ 1 The sum of the three components of the DAC and OAC is 180 degrees, and the OAC can pass throughCalculated, whereas the < DAC can be operated by +.>Thus, the first angle theta can be passed 1 The relation between the three angles of the angle DAC and the angle OAC is calculated to obtain a first angle theta 1 Namely:
2.2 calculation of the second angle of the second mechanical arm
As shown in fig. 7, when calculating the second angle of the second robot arm, first, the driving distance BC of the second robot arm is calculated by the following calculation formula using the coordinates C (x, y) of the main arm joint pitch and the working position:
wherein e is used to characterize 1/2 of the main arm attachment point pitch AB.
As shown in fig. 7, it is apparent that the second angle θ 2 The sum of the three components of the ++EBC and the ++OBC is 180 DEG, and the ++OBC can pass throughCalculated, whereas the +.EBC can be calculated by +.>Thus, it can pass through the second angle theta 2 The relation between the three angles of the angle EBC and the angle OBC is calculated to obtain a first angle theta 2 Namely:
therefore, by utilizing the working position parameters and combining the lengths of the mechanical arms, the working angle at which the mechanical arms should run can be accurately calculated, so that the tail end of the working arm can work at the designated working position.
It is noted that, whether it is scenario one or scenario two, the characteristics in the symmetrical case of the first and second robot arms are not utilized in calculating all the quantities. Therefore, the scheme is not only suitable for the mechanical arm with the symmetrical structure, but also suitable for the mechanical arm with the asymmetrical structure, and has wider application range.
Furthermore, it is readily understood that the above description has been given with respect to two robotic arms, and that in other embodiments, it is apparent that a robotic arm of a robotic arm may also include more than two robotic arms.
As shown in fig. 8, an embodiment of the present invention provides a control device 800 for a mechanical arm, where the device may include: a length parameter acquisition module 801, a first parameter acquisition module 802, a second parameter calculation module 803 and a mechanical arm control module 804;
a length parameter obtaining module 801, configured to obtain a length parameter of a mechanical arm;
a first parameter obtaining module 802, configured to obtain a first parameter of the angle parameter and the working position parameter of the mechanical arm; the angle parameter is used for representing the included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
A second parameter calculation module 803, configured to calculate a second parameter of the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module 802 and the length parameter acquired by the length parameter acquisition module 801; the method comprises the steps of,
the mechanical arm control module 804 is configured to control the mechanical arm according to the second parameter calculated by the second parameter calculation module 803.
In one possible implementation, the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module 803, when calculating a second parameter of the angle parameter and the working position parameter from the first parameter and the length parameter, is configured to perform the following operations:
acquiring the distance between the main arm connection points; the main arm connecting point distance is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameters; the joint points are used for representing the connection points of the mechanical master arm and the mechanical slave arm;
And determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
In one possible implementation, the second parameter calculation module 803 is configured to calculate the joint point information according to the main arm joint pitch, the mechanical main arm length, and the angle when calculating the joint point coordinate information of the mechanical arm; the angle is used for representing an included angle between the mechanical master arm and the mechanical arm fixing plane, and the joint point is used for representing a connecting point of the mechanical master arm and the mechanical slave arm.
In one possible implementation, the second parameter calculation module 803 is configured to perform the following operations when calculating the joint information according to the main arm joint pitch, the mechanical main arm length and the angle:
the node coordinate information is calculated using the following calculation formula:
wherein D is x Abscissa information for characterizing an articulation point, D y Ordinate information for representing the joint point, L for representing the distance between the main arm connecting points, L 1 For characterizing the length, theta, of the main arm of the machine 1 For characterizing the angle.
In one possible implementation, the method further includes: a first location parameter determination module;
the first position parameter determining module is configured to execute the following operations when the included angle between the installation plane of the mechanical arm and the horizontal plane is theta and the working position parameter of the mechanical arm is determined according to the coordinate information of the joint points:
The working position coordinates are calculated using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the second parameter calculation module 803 is configured to calculate joint point coordinate information for each pair of the master arm and the slave arm when calculating the joint point coordinate information of the robot arm.
In one possible implementation, the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module 803, when calculating a second parameter of the angle parameter and the working position parameter from the first parameter and the length parameter, is configured to perform the following operations:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the connecting points of the main arm; the main arm connecting point distance is used for representing the distance between the driving point of the first mechanical main arm and the driving point of the second mechanical main arm;
And calculating the angle parameter by using the driving distance, the length of the main mechanical arm, the length of the auxiliary mechanical arm and the working position parameter.
In one possible implementation, the second parameter calculation module 803, when calculating the angle parameters using the drive distance, the mechanical master arm length, the mechanical slave arm length, and the working position parameters, is configured to perform the following operations:
calculating an included angle between the mechanical main arm and the mechanical arm fixing plane by using the driving distance, the mechanical main arm length, the mechanical auxiliary arm length and the working position parameters; wherein the driving distance is used to characterize the distance between the driving point of the main arm and the working position.
In one possible implementation, the method further includes: a second location parameter determination module;
the second position parameter determining module is configured to execute the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] of the installation plane of the mechanical arm when the installation plane is not parallel to the horizontal plane;
the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane are calculated by using the following calculation formula:
and [ x, y ] is used for representing the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane.
In one possible implementation, the robotic arm includes at least two pairs of a master robotic arm and a slave robotic arm;
the second parameter calculation module 803, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of the master arm and the slave arm, respectively.
As shown in fig. 9, one embodiment of the invention also provides a computing device 900 comprising: at least one memory 901 and at least one processor 902;
at least one memory 901 for storing a machine readable program;
at least one processor 902, coupled to the at least one memory 901, is configured to invoke the machine readable program to perform the method 100 for controlling a robotic arm provided in any of the embodiments described above.
The present invention also provides a computer readable medium having stored thereon computer instructions that, when executed by a processor, cause the processor to perform the method 100 for controlling a robotic arm provided in any of the embodiments above. The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements the method 100 of controlling a robotic arm as described in any of the above. Specifically, a system or apparatus provided with a storage medium on which a software program code realizing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or apparatus may be caused to read out and execute the program code stored in the storage medium.
In this case, the program code itself read from the storage medium may realize the functions of any of the above-described embodiments, and thus the program code and the storage medium storing the program code form part of the present invention.
Examples of the storage medium for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (e.g., CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a nonvolatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer by a communication network.
Further, it should be apparent that the functions of any of the above-described embodiments may be implemented not only by executing the program code read out by the computer, but also by causing an operating system or the like operating on the computer to perform part or all of the actual operations based on the instructions of the program code.
Further, it is understood that the program code read out by the storage medium is written into a memory provided in an expansion board inserted into a computer or into a memory provided in an expansion module connected to the computer, and then a CPU or the like mounted on the expansion board or the expansion module is caused to perform part and all of actual operations based on instructions of the program code, thereby realizing the functions of any of the above embodiments.
It should be noted that not all the steps and modules in the above processes and the structure diagrams of the devices are necessary, and some steps or modules may be omitted according to actual needs. The execution sequence of the steps is not fixed and can be adjusted as required. The system structure described in the above embodiments may be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented jointly by some components in multiple independent devices. The control device for starting the mechanical arm and the control method for the mechanical arm are based on the same invention conception.
In the above embodiments, the hardware module may be mechanically or electrically implemented. For example, a hardware module may include permanently dedicated circuitry or logic (e.g., a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware modules may also include programmable logic or circuitry (e.g., a general-purpose processor or other programmable processor) that may be temporarily configured by software to perform the corresponding operations. The particular implementation (mechanical, or dedicated permanent, or temporarily set) may be determined based on cost and time considerations.
While the invention has been illustrated and described in detail in the drawings and in the preferred embodiments, the invention is not limited to the disclosed embodiments, and it will be appreciated by those skilled in the art that the code audits of the various embodiments described above may be combined to produce further embodiments of the invention, which are also within the scope of the invention.
Claims (21)
1. The control method of the mechanical arm is characterized by comprising the following steps:
acquiring length parameters of a mechanical arm;
acquiring first parameters of the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; the method comprises the steps of,
controlling the mechanical arm according to the calculated second parameter, wherein,
the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
The step of calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter comprises the following steps:
acquiring the distance between the main arm connection points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; wherein the joint point is used for representing a connection point of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
2. The method of claim 1, wherein the step of calculating joint point coordinate information of the robot arm comprises:
calculating joint point information according to the joint point distance of the main arm, the length and the angle of the mechanical main arm; the angle is used for representing an included angle between the mechanical main arm and a mechanical arm fixing plane, and the joint point is used for representing a connecting point of the mechanical main arm and the mechanical auxiliary arm.
3. The method of claim 2, wherein the step of calculating joint point information based on the main arm joint pitch, the mechanical main arm length, and the angle comprises:
Calculating the joint point coordinate information by using the following calculation formula:
wherein D is x Abscissa information for characterizing an articulation point, D y Ordinate information for characterizing the articulation point, L for characterizing the main arm articulation point spacing, L 1 For characterizing the length, theta, of the mechanical main arm 0 For characterizing the angle.
4. A method according to any one of claims 1 to 3, wherein when the angle between the installation plane of the mechanical arm and the horizontal plane is θ, the step of determining the working position parameter of the mechanical arm according to the joint point coordinate information includes:
the working position coordinates are calculated using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
5. The method of claim 1, wherein the robotic arm comprises at least two pairs of a master robotic arm and a slave robotic arm;
the calculating the joint point coordinate information of the mechanical arm comprises the following steps: joint point coordinate information is calculated for each pair of the master arm and the slave arm.
6. The control method of the mechanical arm is characterized by comprising the following steps:
acquiring length parameters of a mechanical arm;
acquiring first parameters of the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter; the method comprises the steps of,
controlling the mechanical arm according to the calculated second parameter, wherein,
the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the step of calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter comprises the following steps:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
And calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
7. The method of claim 6, wherein the step of calculating the angle parameter using the drive distance, the master arm length, the slave arm length, and the operating position parameter comprises:
calculating an included angle between the mechanical main arm and the mechanical arm fixing plane by using the driving distance, the mechanical main arm length, the mechanical auxiliary arm length and the working position parameters; wherein the driving distance is used for representing the distance between the driving point and the working position of the mechanical main arm.
8. The method according to any one of claims 6 to 7, wherein the step of determining the operating position parameter when the mounting plane of the robot arm is parallel to a horizontal plane comprises:
acquiring working position coordinates [ x ', y' ] of the installation plane of the mechanical arm when the installation plane is not parallel to the horizontal plane;
the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane are calculated by using the following calculation formula:
and [ x, y ] is used for representing the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane.
9. The method of claim 7, wherein the robotic arm comprises at least two pairs of a master robotic arm and a slave robotic arm;
the step of calculating the angle parameter includes: the angle parameters are calculated for each pair of the master and slave arms, respectively.
10. A control device for a robot arm, comprising: the system comprises a length parameter acquisition module, a first parameter acquisition module, a second parameter calculation module and a mechanical arm control module;
the length parameter acquisition module is used for acquiring the length parameter of the mechanical arm;
the first parameter acquisition module is used for acquiring first parameters in the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
the second parameter calculation module is used for calculating a second parameter in the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module and the length parameter acquired by the length parameter acquisition module; the method comprises the steps of,
The mechanical arm control module is used for controlling the mechanical arm according to the second parameter calculated by the second parameter calculation module,
the first parameter is an angle parameter of the mechanical arm, and the second parameter is a working position parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module is configured to perform the following operations when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter:
acquiring the distance between the main arm connection points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
calculating joint point coordinate information of the mechanical arm by using the distance between the connecting points of the main arm, the length of the mechanical main arm and the angle parameter; wherein the joint point is used for representing a connection point of the mechanical master arm and the mechanical slave arm;
and determining the working position parameters of the mechanical arm according to the coordinate information of the joint points.
11. The apparatus of claim 10, wherein the device comprises a plurality of sensors,
the second parameter calculation module is configured to calculate joint point information according to the joint point distance of the main arm, the length and the angle of the main arm when calculating the joint point coordinate information of the mechanical arm; the angle is used for representing an included angle between the mechanical main arm and a mechanical arm fixing plane, and the joint point is used for representing a connecting point of the mechanical main arm and the mechanical auxiliary arm.
12. The apparatus of claim 11, wherein the second parameter calculation module, when calculating the articulation point information from the main arm joint spacing, mechanical main arm length, and angle, is configured to:
calculating the joint point coordinate information by using the following calculation formula:
wherein D is x Abscissa information for characterizing an articulation point, D y Ordinate information for characterizing the articulation point, L for characterizing the main arm articulation point spacing, L 1 For characterizing the length, theta, of the mechanical main arm 0 For characterizing the angle.
13. The apparatus according to any one of claims 10 to 12, further comprising: a first location parameter determination module;
the first position parameter determining module is configured to execute the following operations when an included angle between an installation plane of the mechanical arm and a horizontal plane is theta and working position parameters of the mechanical arm are determined according to the joint point coordinate information:
The working position coordinates are calculated using the following calculation formula:
wherein, [ x ', y' ] is used for representing the working position coordinate when the included angle of the installation plane of the mechanical arm and the horizontal plane is theta, and [ x, y ] is used for representing the working position coordinate when the installation plane of the mechanical arm and the horizontal plane are parallel.
14. The apparatus of claim 10, wherein the robotic arm comprises at least two pairs of a master arm and a slave arm;
the second parameter calculation module is configured to calculate joint point coordinate information for each pair of the master arm and the slave arm when calculating the joint point coordinate information of the manipulator arm.
15. A control device for a robot arm, comprising: the system comprises a length parameter acquisition module, a first parameter acquisition module, a second parameter calculation module and a mechanical arm control module;
the length parameter acquisition module is used for acquiring the length parameter of the mechanical arm;
the first parameter acquisition module is used for acquiring first parameters in the angle parameters and the working position parameters of the mechanical arm; the angle parameter is used for representing an included angle between the mechanical arm and the installation plane, and the working position parameter is used for representing the position of the tail end of the mechanical arm;
The second parameter calculation module is used for calculating a second parameter in the angle parameter and the working position parameter according to the first parameter acquired by the first parameter acquisition module and the length parameter acquired by the length parameter acquisition module; the method comprises the steps of,
the mechanical arm control module is used for controlling the mechanical arm according to the second parameter calculated by the second parameter calculation module,
the first parameter is a working position parameter of the mechanical arm, and the second parameter is an angle parameter of the mechanical arm;
the mechanical arm comprises: a master arm and a slave arm; the mechanical main arm comprises a first mechanical main arm and a second mechanical main arm;
the second parameter calculation module is configured to perform the following operations when calculating a second parameter of the angle parameter and the working position parameter according to the first parameter and the length parameter:
calculating the driving distance between the driving point of the mechanical main arm and the working position according to the working position parameter and the distance between the main arm connecting points; wherein the main arm connection point pitch is used to characterize a distance between a drive point of the first mechanical main arm and a drive point of a second mechanical main arm;
And calculating the angle parameter by using the driving distance, the length of the mechanical main arm, the length of the mechanical auxiliary arm and the working position parameter.
16. The apparatus of claim 15, wherein the second parameter calculation module, when calculating the angle parameter using the drive distance, master arm length, slave arm length, and the working position parameter, is configured to:
calculating an included angle between the mechanical main arm and the mechanical arm fixing plane by using the driving distance, the mechanical main arm length, the mechanical auxiliary arm length and the working position parameters; wherein the driving distance is used for representing the distance between the driving point and the working position of the mechanical main arm.
17. The apparatus according to any one of claims 15 to 16, further comprising: a second location parameter determination module;
the second position parameter determining module is configured to perform the following operations when the installation plane of the mechanical arm is parallel to the horizontal plane and the working position parameter is determined:
acquiring working position coordinates [ x ', y' ] of the installation plane of the mechanical arm when the installation plane is not parallel to the horizontal plane;
the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane are calculated by using the following calculation formula:
And [ x, y ] is used for representing the working position coordinates when the installation plane of the mechanical arm is parallel to the horizontal plane.
18. The apparatus of claim 16, wherein the robotic arm comprises at least two pairs of a master arm and a slave arm;
the second parameter calculation module, when calculating the angle parameter, is configured to calculate the angle parameter for each pair of the master arm and the slave arm, respectively.
19. A computing device, comprising: at least one memory and at least one processor;
the at least one memory for storing a machine readable program;
the at least one processor being configured to invoke the machine readable program to perform the method of any of claims 1 to 9.
20. A computer readable medium having stored thereon computer instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 9.
21. Computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any of claims 1 to 9.
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