Safe reset method of mechanical arm including a second path defining step, a return speed calculation step, and a mechanical arm returning step

• Main Authors: XIE, YUAN-RONG, TANG, PEI-ZHONG, ZHONG, YONG-JI, LI, ZHENG-YUAN, WANG, YU-FU, YANG, YUN-YU
• Format: Patent
• Language: Chinese; English
• Published: 01.04.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

A method of safely resetting a mechanical arm is applied to a mechanical arm driven by a motor, the end of the mechanical arm can be driven to move along a first path. There is a location point on the first path, and there is an offset point not on the first path within the moving range of the end of the mechanical arm. The reset method includes: defining a second path between the offset point and the location point; calculating the return speed of the end of the mechanical arm moving from the offset point to the location point along the second path, and calculating the return torque according to the return speed; determining whether the return torque is greater than a torque limit, if so, making the end of the mechanical arm return to the location point at the limit speed corresponding to the torque limit; otherwise, making the end of the mechanical arm return to the location point at the return speed.