Mechanical arm motion control method and device and computer equipment

• Main Authors: TANG HUICHENG, JIA YUNHONG, JIAO XIAOFENG, REN XIAOWEN, QIAO JIAWEI, MA YUHUA, YANG ZEYUAN, YUAN GANG
• Format: Patent
• Language: Chinese; English
• Published: 20.08.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides a mechanical arm motion control method and device and computer equipment. The mechanical arm motion control method comprises the steps that initial position information and target position information of a mechanical arm are obtained; the initial position information and the target position information are input into a pre-trained trajectory planning model so as to determine a motion trajectory signal of the mechanical arm; the motion trajectory signal is input into a preset motion controller so as to determine a motion control signal of the mechanical arm; and the mechanical arm is controlled to move from the initial position to the target position according to the motion control signal. Therefore, the control precision of the mechanical arm in the motion process is improved, and then the motion trajectory precision and the position precision of the mechanical arm are improved. 本申请提出一种机械臂运动的控制方法、装置及计算机设备，其中，机械臂运动的控制方法包括：获取机械臂的初始位置信息和目标位置信息；将所述初始位置信息和目标位置信息输入预先训练的轨迹规划模型中，以确定所述机械臂的运动轨迹信号