Real-time tracking control method for Cartesian space moving target of six-degree-of-freedom mechanical arm

Abstract

The invention belongs to the field of robot control, and provides a real-time tracking control method for a Cartesian space moving target of a six-degree-of-freedom mechanical arm, which comprises the following steps of: acquiring Cartesian space poses of a moving target and an end effector of the mechanical arm, calculating a Cartesian pose error, establishing an adjustable gain for the Cartesian pose error, and performing superposition calculation; a virtual power source applied to an end effector of the mechanical arm is calculated according to the error scaling coefficient; establishing a mechanical arm dynamic model with optimized virtual conditions, calculating the angular acceleration of each joint of the mechanical arm, and integrating the angular acceleration to obtain the angular velocity of each joint of the mechanical arm and the angle of each joint of the mechanical arm; and carrying out loop iteration solution and continuously outputting all joint angles of the mechanical arm to control an end effector of the mechanical arm to move towards the moving target, and completing real-time tracking of the Cartesian space moving target of the mechanical arm. According to the method, the dynamic target in the six-degree-of-freedom direction of the three-dimensional space can be stably tracked, adjustable gain parameters and error scaling parameters are provided, and rapid, accurate or smooth and stable dynamic target tracking is achieved.

Description

Technical field [0001] The present invention relates to the field of robotic controls, and more particularly to a six-degree-of-freedom mechanical armcly caul spatial moving target real-time tracking control method. Background technique [0002] At present, robot technology has entered military, aerospace, industrial, agriculture, service industry, medical and health, disaster rescue, etc., and in the industrial sector, complicated repetitive labor such as handling, welding, assembly, etc. Take a dominant position. In practical applications, the robotic arms often need to meet specific needs of the task space, while the robot arm is driven by each joint, and its motion control can only be carried out in the joint space, so the control algorithm is required to continuously map from the task space to the joint space. [0003] For motion target tracking problems, its task space is a Cartesian space. Existing practical applications mainly stay in one-dimensional pipeline sorting oper...

AI Technical Summary

Problems solved by technology

For the target of low-frequency sampling, the separate solution is too sparse, which will cause the joint actuator of the manipulator to jump and cannot be used as a direct joint control command, and the feasibility of manipulator execution cannot be guaranteed.

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