Multi-degree-of-freedom mechanical arm control device and control method for force-controlled traction and positioning

Abstract

The invention discloses a force control traction and swinging multi-degree-of-freedom mechanical arm control device and method. A force signal sensor is mounted on a flange plate at the tail end of a mechanical arm in a specific mode by a mounting connector, and the pose information and force / moment information of the tail end of the mechanical arm are sampled synchronously. Based on feedback control of external action force, force feedback information is converted into pose offset information of the tail end of the mechanical arm. The pose and speed of the tail end of the mechanical arm are changed along with the external action force through a force-pose offset control algorithm and a force-speed control algorithm, and accurate swinging can be achieved when manual traction is stopped. According to the force control traction and swinging multi-degree-of-freedom mechanical arm control device and method, a tail end tool can achieve traction operation conveniently in real time according to the will of an operator, the current pose can be kept without external force action, and accurate positioning is achieved; meanwhile, the operator can change the motion trail of the tail end of the mechanical arm by exerting external force in the process that the mechanical arm moves to a target spot, and the mechanical arm can achieve emergent obstacle avoidance in the movement process.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom mechanical arm control technology, in particular to a multi-freedom mechanical arm control device and a control method for force-controlled traction and positioning. Background technique [0002] Multi-degree-of-freedom robotic arms have been widely used in industrial equipment manufacturing, aerospace, medical and health fields due to their advantages of high positioning repeatability, programmable, and easy operation. There are two commonly used control methods for industrial multi-degree-of-freedom manipulator systems: one is to use the "teaching mode", that is, the operator first controls the end of the manipulator (usually equipped with tools) to move along a certain working trajectory through the manipulator teacher, And make the manipulator controller "record" the motion state of the manipulator corresponding to each sampling track point in the working track (including instantaneous speed, insta...

AI Technical Summary

Problems solved by technology

[0005] 1. In the teaching mode, the operator is required to control the manipulator to accurately reach some pose points in a specific task, and at the same time, various factors that may cause potential safety hazards must be considered. Therefore, the selection of the teaching trajectory and the teaching operation process are relatively difficult. time consuming

In the offline programming mode, the work task needs to be converted into a machine program in the early stage, and there will be multiple program modification and operation debugging according to the actual working conditions in the later stage, and the system maintenance cost is also high

[0006] 2. When the working trajectory of the end of the robotic arm changes, the operator often needs to re-teach or pre-program the trajectory, which also greatly limits the application of the multi-degree-of-freedom robotic arm in personalized solutions

[0007] 3. During the operation of the robot arm, it is impossible to adjust the corresponding control command by detecting the external force, so the force-controlled traction function cannot be realized; when the robot arm accidentally encounters obstacles in the movement track, it cannot be updated in real time through the external force The movement trajectory of the robotic arm is prone to accidents

[0008] Patent CN103347659A proposes a sensor relay control device, which can control the movement of the motors of each joint of the manipulator by solving the information of the force sensor, but cannot realize the force-controlled traction function of the manipulator system

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