Mechanical arm multi-joint linkage control method
A robotic arm, multi-joint technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor intuition, inability to apply high-precision intelligent control of engineering manipulators, and low control accuracy.
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[0112] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0113] In the embodiment of the present invention, a multi-joint linkage control method of a manipulator is introduced. The control method includes, firstly, constructing a control system framework of the manipulator, and the control system framework includes a control layer, a model layer, and a planning layer; secondly, at th...
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Abstract
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