Method of writing standard Chinese characters by using six-degree-of-freedom mechanical arm under control of force

Abstract

The invention belongs to the technical field of mechanical arm control, and particularly relates to a method of writing standard Chinese characters by using a six-degree-of-freedom mechanical arm under the control of force. The method comprises the steps of extracting the contour information of Chinese characters, planning the path of the tail end of the mechanical arm, designing an impedance control method, finding the position of a contact surface and controlling the force of writing processes and particularly comprises the following steps of: extracting the position information of contour points of Chinese characters based on the TTF character library of Windows, and falling contour curves into straight lines and spline curves; and converting the extracted contour position coordinates of Chinese characters into the coordinates of Cartesian space of an end effector of the mechanical arm. The method has the beneficial effects that the six-degree-of-freedom mechanical arm is used for completing Chinese character writing tasks under the control of force; the method is universal for industrial mechanical arms, can be widely applied to practical teaching and science and technology exhibitions and can also be used for completing tasks such as spraying and engraving in industrial fields; Chinese characters can be written on brittle objects by using the method; and the accuracy and safety of writing are ensured.

Description

technical field [0001] The invention belongs to the technical field of mechanical arm control, and in particular relates to a method for writing standard Chinese characters with a six-degree-of-freedom mechanical arm with force control. Background technique [0002] Robotic arms have been widely used in the fields of aerospace, medical and industrial production. Although there have been robotic arms specially used for writing Chinese characters in recent years, most of them imitate the writing of celebrities or perform calligraphy drawing, and use small actuators with low degrees of freedom to complete tasks. , used in the home or office environment, this type of calligraphy robot is characterized by the structural design of the low-degree-of-freedom arm or the imitation of handwritten Chinese characters. Industrial manipulators have high precision and fast speed. It is necessary to design a standard Chinese character writing system for typical six-degree-of-freedom manipula...

AI Technical Summary

Problems solved by technology

[0003] When the Chinese character writing system of the mechanical arm is applied to special industrial occasions, such as engraving, writing on brittle objects or uneven surfaces, etc., only position control of the mechanical arm when writing Chinese characters cannot guarantee the accuracy and safety of writing. It is very necessary to add force constraints to the manipulator. At present, there is no research on adding force control to the Chinese character writing system of industrial manipulators.

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