Four-axis mechanical arm motion control method and system for disinfecting high-frequency contact object

The invention provides a four-axis mechanical arm motion control method and system for disinfecting a high-frequency contact object, and belongs to the technical field of robot control. The space coordinates are converted from Cartesian coordinates to a mechanical arm coordinate system through inver...

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Bibliographic Details
Main Authors FU ZHOU, CHO HOO-YONG, ZHOU JUN, GAO XINBIAO, MENG GUANGHUI, YE FENG, LI WENGUANG
Format Patent
LanguageChinese
English
Published 30.08.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention provides a four-axis mechanical arm motion control method and system for disinfecting a high-frequency contact object, and belongs to the technical field of robot control. The space coordinates are converted from Cartesian coordinates to a mechanical arm coordinate system through inverse kinematics, and the angles of all axes of the mechanical arm are obtained; calculating the difference between each shaft angle of the target position and the current angle to obtain each shaft rotation angle, converting each shaft rotation angle into a motor rotation angle, and proportionally distributing the motor rotation speed according to the size of the motor rotation angle; performing kinematics positive solution to estimate Cartesian coordinates of the tail end of the mechanical arm, comparing whether the projection of the Cartesian coordinates on the horizontal plane crosses the constraint formed by the obstacle points, if so, judging that the mechanical arm encounters the obstacle in the moving process,
Bibliography:Application Number: CN202210902349