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SCARA intelligent mechanical arm control method and system for building construction

A technology for building construction and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low flexibility in task execution and wear and tear of manipulator arms, and achieve the goals of shortening execution time, increasing service life, and improving execution efficiency Effect

Active Publication Date: 2021-12-10
北京中海兴达建设有限公司
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Problems solved by technology

[0005] The invention provides a SCARA intelligent manipulator control method for building construction, which is used to solve the problem that the existing manipulator control has a single solution execution that leads to low flexibility in task execution, and the single action execution leads to serious wear and tear of the manipulator. :

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  • SCARA intelligent mechanical arm control method and system for building construction
  • SCARA intelligent mechanical arm control method and system for building construction
  • SCARA intelligent mechanical arm control method and system for building construction

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Embodiment Construction

[0072] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0073] A kind of SCARA intelligent mechanical arm control method for building construction that the present invention proposes, such as figure 1 As shown, the method includes:

[0074] S1. Input the target task that the robotic arm needs to perform;

[0075] S2. Planning three sets of action plans corresponding to the tasks to be performed according to the target tasks;

[0076] S3. Conduct a trial operation on each group of action plans, and determine whether the operation indicators of each group of action plans meet the requirements through the trial operation;

[0077] S4. In the action plan that meets the requirements, perform the target task operation accord...

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Abstract

The invention provides an SCARA intelligent mechanical arm control method and system for building construction. The method comprises the following steps: inputting a target task needing to be executed by the mechanical arm; planning three groups of action schemes corresponding to the task to be executed according to the target task; performing trial operation on each group of action schemes, and determining whether operation indexes of each group of action schemes meet requirements or not through the trial operation; and in the action scheme meeting the requirements, performing target task operation according to the execution rule. The system comprises modules corresponding to the scheme steps.

Description

technical field [0001] The invention provides a SCARA intelligent manipulator control method and system for building construction, belonging to the technical field of manipulator control. Background technique [0002] The robotic arm refers to a complex system with high precision, multiple input and multiple output, high nonlinearity, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety explosion-proof and other fields. [0003] The manipulator is a complex system with uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, there are uncertainties in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the joint space of the manipulator, so as to cascade to form the end pose. [0004] When the existing SCARA manipulator is used in the construction site, due to the harsh environment of the construction si...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/04B25J9/16
CPCB25J9/042B25J9/1679B25J9/1664
Inventor 刘伟杰
Owner 北京中海兴达建设有限公司
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