Method and device for planning spatial motion of intelligent arm

Abstract

The invention discloses a method and device for planning spatial motion of an intelligent arm. The method comprises the steps of determining first coordinates of the tail ends of arm rests in an arm rest plane-coordinate system and second coordinates of the tail ends of the arm rests in an arm rest projected coordinate system, determining third coordinates of the tail ends of the arm rests in the arm rest projected coordinate system when the intelligent arm is located at the target position, calculating and obtaining the rotating angle of a rotating table of the intelligent arm, calculating the coordinate change quantity of the intelligent arm in the arm rest plane-coordinate system, determining the angle difference of the included angle between two adjacent arm rests of the intelligent arm according to an optimization algorithm, and respectively controlling the motion of the rotating table and the arm rests of the intelligent arm. According to the method for planning the spatial motion of the intelligent arm, the movement of the intelligent arm in the space can be conveniently and automatically controlled, and the use performance of the intelligent arm rests is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent arm control, in particular to a method and device for spatial motion planning of an intelligent arm. Background technique [0002] The coordinates (X Y Z) of the boom of the concrete pump truck (such as the smart arm) in the three-dimensional space can be as follows: figure 1 As shown, the three-dimensional space can be determined as follows: in the space accessible by the boom of the pump truck, take the hinge joint between the turntable of the pump truck and the first section of the boom as the origin of coordinates, and take the direction of the hopper of the body as the positive semi-axis of x , taking the direction perpendicular to the vehicle body as the positive semi-axis of the y-axis, according to the right-hand rule of the Cartesian coordinate system, the z-axis can be determined. Of course, other points can be used as the origin of the coordinates according to actual needs, and oth...

AI Technical Summary

Problems solved by technology

[0006] Since the spatial motion planning of the boom based on the three-dimensional coordinate calculation method shown in formula (1) is very complicated, many patents related to smart booms avoid the spatial motion planning of the boom and directly use the boom The movement of the space is simplified to a linear movement, that is, the automatic control of the movement of the turntable is not considered

If the turntable of the pump truck is manually operated to cooperate with the movement of the boom, it will be difficult for the end of the boom to walk out of a relatively straight track, which will greatly reduce the actual performance of the smart boom

Images