Mechanical arm control method and device, mechanical arm and readable storage medium

Abstract

The invention discloses a mechanical arm control method and device, a mechanical arm and a readable storage medium. The method comprises the steps that n pieces of gravity matrix data of an operator at the tail end of the mechanical arm under a tail end coordinate system when the mechanical arm is in n different poses are obtained through a sensor at the tail end of the mechanical arm, and n is larger than or equal to 3; n rotation transformation matrices from a base coordinate system of the mechanical arm to the tail end coordinate system are determined by using a preset rotation transformation matrix determination method when the mechanical arm is in n different poses; and a center-of-mass coordinate and the mass of the operator can be calculated only by acquiring the n pieces of gravity matrix data and the n pieces of rotation transformation matrices corresponding to the n different poses of the mechanical arm. According to the technical scheme, the power-on error of a force sensor is fully considered, the calculated amount is small, on-line data processing can be achieved, the center-of-mass coordinate and the mass of the operator can be determined, model parameters do not need to be modified after off-line solving, and the speed of determining the related parameters of the operator is effectively increased.

Description

technical field [0001] The present invention relates to the technical field of mechanical arm applications, and in particular to a control method and device for a mechanical arm, a mechanical arm and a readable storage medium. Background technique [0002] With the promotion and popularization of robotic arms in the field of service robots, robotic arms are usually used instead of robotic arms to perform different tasks, and for different tasks, different manipulators are installed at the end of the robotic arm to grab or hold loads , For example, a suction cup manipulator can be used when grabbing boxes, a multi-finger gripper can be used when grabbing irregular objects, and corresponding pen clips can be installed when writing. Manipulators with different mass properties will affect the position and force control of the manipulator. [0003] In the prior art, relevant mass and centroid parameters can be obtained through the CAD model of the manipulator. However, due to d...

AI Technical Summary

Problems solved by technology

However, because the processing, assembly, electrical components, etc. are different from the theory, the actual quality parameters are different from the CAD model, and the manipulators installed at the end of many mechanical arms cannot use the CAD model to obtain their theoretical model parameters

As a result, the control end of the robotic arm cannot accurately obtain the mass and center of mass of the manipulator, which affects the inability of the control end of the robotic arm to perform precise position movement and force control on the robotic arm

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