Title:
INTELLIGENT CONTROL METHOD, DEVICE AND SYSTEM FOR MULTI-JOINT MECHANICAL ARM
Document Type and Number:
WIPO Patent Application WO/2015/101088
Kind Code:
A1
Abstract:
An intelligent control method, device and system for a multi-joint mechanical arm. The intelligent control method for the multi-joint mechanical arm comprises: receiving a velocity vector, input by a manipulator, of a tail end of the mechanical arm (S11); performing trajectory prediction on each knuckle arm of the multi-joint mechanical arm on the basis of the velocity vector of the tail end of the mechanical arm (S12); determining an optimal planning solution on the basis of the motion restraint and trajectory prediction result of the multi-joint mechanical arm (S13); determining the oil cylinder driving quantity of each knuckle arm according to the optimal planning solution (S14); and determining, according to a proportional feature of the oil cylinder driving quantity and an execution mechanism, a driving current used for driving rotation of a multi-joint arm rest and a rotating tower (S15). The control method, device and system can improve the control precision of the multi-joint mechanical arm, ensure the stable motion of the arm rest and reduce the complexity of the manipulation.
Inventors:
DAI QINGHUA (CN)
TAN LINGQUN (CN)
PU DONGLIANG (CN)
WU LICHONG (CN)
TAN LINGQUN (CN)
PU DONGLIANG (CN)
WU LICHONG (CN)
Application Number:
PCT/CN2014/089443
Publication Date:
July 09, 2015
Filing Date:
October 24, 2014
Export Citation:
Assignee:
SANY AUTOMOBILE MFG CO LTD (CN)
International Classes:
G05D3/12; E04G21/04
Foreign References:
| CN103955231A | 2014-07-30 | |||
| CN103061511A | 2013-04-24 | |||
| CN1975070A | 2007-06-06 | |||
| CN101525944A | 2009-09-09 | |||
| DE19503895A1 | 1996-08-08 |
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