Control method for four-degree-of-freedom mechanical arm, and control method for fire-fighting mechanical arm of transformer substation

Abstract

The invention discloses a control method for a four-degree-of-freedom mechanical arm. The control method for the four-degree-of-freedom mechanical arm comprises the following steps: obtaining working parameters of the four-degree-of-freedom mechanical arm; establishing a coordinate system according to the position of the four-degree-of-freedom mechanical arm; obtaining target position information as position information of the tail end of the mechanical arm and corresponding elevation angle information; calculating control angle information of each joint of the four-degree-of-freedom mechanical arm; and controlling the four-degree-of-freedom mechanical arm to act. The invention further discloses a control method for a fire-fighting mechanical arm of a transformer substation and comprising the control method for the four-degree-of-freedom mechanical arm. According to the invention, complex matrix operation is avoided, moreover, the inverse kinematics high-precision control problem of the mechanical arm is effectively solved, the four-degree-of-freedom mechanical arm can realize precise action and operation, and high reliability and precision, and accurate locating are achieved.

Description

technical field [0001] The invention belongs to the field of motion control, and in particular relates to a control method of a four-degree-of-freedom mechanical arm and a control method of a substation fire-fighting mechanical arm. Background technique [0002] With the development and improvement of economy and technology, mechanical arms have been widely used in people's production, bringing endless convenience to people's production. [0003] Four-degree-of-freedom robotic arms have been widely used in factories, enterprises and other scenarios. However, during the actual operation of the four-degree-of-freedom manipulator, there are often problems of low control accuracy and inaccurate fixed-point positioning of the manipulator, which affects the promotion and precise application of the four-degree-of-freedom manipulator. [0004] In addition, the traditional fire protection methods of substations are mainly fixed sprinklers, but because the installation location is re...

AI Technical Summary

Problems solved by technology

However, if the four-degree-of-freedom robotic arm is directly used in the substation smart fire protection system, there are also problems of low control accuracy and inaccurate fixed-point positioning of the robotic arm, which will reduce the operating efficiency of the substation fire protection system.

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