Manipulator precise control system and method

Abstract

The invention discloses a manipulator precise control system. The manipulator precise control system comprises a video collecting module, an image processing module, a manipulator movement positioning point matching module, a movement difference calculating module, a fuzzy controller, a manipulator movement driver, a path scheduling module and a movement target position inputting module. The invention also discloses a manipulator precise control method. The specific technical scheme of the manipulator precise control method comprises, 1, determining a manipulator movement target position; 2, determining a current position through the video collecting module and the image processing module; 3, calculating the patch between the coordinate of a starting position and the coordinate of the movement target position through the path scheduling module; 4, extracting the movement control signals of every joint of the manipulator at different times; 5, starting a video capturing device; 6, obtaining the coordinate of a positioning point in an image; 7, generating control signals through the fuzzy controller; 8, driving the manipulator to move continuously though the manipulator movement control signals; 9, obtaining the coordinate of the manipulator and matching the coordinate with the scheduled coordinate through the video collecting device. The manipulator precise control system and method can achieve real-time accurate adjustment of the movement path of the manipulator.

Description

technical field [0001] The invention belongs to the field of manipulator control, in particular to a manipulator precise control system and its method [0002] Law. Background technique [0003] At present, in the field of modern industrial manufacturing, there is a very strong application demand for manipulators. At the same time, with the continuous improvement of the level of industrial automation, higher requirements are placed on the flexibility of manipulator manipulation. The traditional manipulator control method is relatively simple, the most typical is to pre-set the control program at the control end of the manipulator, so that the manipulator can be operated and controlled according to the preset motion mode. The control accuracy of this control method is not high during assembly and operation, and with the frequent movements of the manipulator, operational errors may gradually occur. Because this control method does not manage and control the operation error ...

AI Technical Summary

Problems solved by technology

The control accuracy of this control method is not high during assembly and operation, and with the frequent movements of the manipulator, operational errors may gradually occur

Since this control method does not manage and control the operation error during the operation process, the error will be continuously accumulated, which will eventually cause serious deviations or even misoperation of the manipulator during the operation process.

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