Title:
MECHANICAL ARM CONTROL METHOD BASED ON LEAST SQUARES METHOD FOR USE IN ROBOT EXPERIMENTAL TEACHING
Document Type and Number:
WIPO Patent Application WO/2020/010876
Kind Code:
A1
Abstract:
A mechanical arm control method based on a least squares method for use in robot experimental teaching, comprising: collecting a target object image and, by means of the target object image, calculating position coordinates of the target object; setting a pickup distance, selecting a plurality of first sample points and second sample points on the basis of the position target, and using a swing steering machine to control a claw to move sequentially according to a first trajectory and a second trajectory; reading a PWM signal duty cycle S in the swing steering machine and calculating the value of Di＝S/P; on the basis of a least squares method, fitting xi to obtain a fitting equation; adjusting the pickup distance and, on the basis of fitting data, correspondingly setting the PWM signal duty cycle in the swing steering machine and controlling the claw to move sequentially along the first trajectory and the second trajectory; and controlling the claw to open and close to grab the target object and pick upward; using the least squares method greatly simplifies the steps for implementing trajectory calibration and increases the pickup efficiency of the mechanical arm, facilitating use in robot experimental teaching.
Inventors:
WANG TIANLEI (CN)
WANG ZHU (CN)
WANG TIANQING (CN)
ZHANG XIN (CN)
LUO BING (CN)
LI YE (CN)
WANG YUQING (CN)
ZHANG JINGLING (CN)
HAO XIAOXI (CN)
WANG ZHU (CN)
WANG TIANQING (CN)
ZHANG XIN (CN)
LUO BING (CN)
LI YE (CN)
WANG YUQING (CN)
ZHANG JINGLING (CN)
HAO XIAOXI (CN)
Application Number:
PCT/CN2019/079255
Publication Date:
January 16, 2020
Filing Date:
March 22, 2019
Export Citation:
Assignee:
UNIV WUYI (CN)
International Classes:
B25J9/16; B25J11/00
Domestic Patent References:
| WO2000045229A1 | 2000-08-03 |
Foreign References:
| CN108748162A | 2018-11-06 | |||
| CN105654474A | 2016-06-08 | |||
| CN107160389A | 2017-09-15 | |||
| CN106651949A | 2017-05-10 | |||
| CN108177145A | 2018-06-19 | |||
| CN107186701A | 2017-09-22 | |||
| CN107450885A | 2017-12-08 | |||
| TW201403557A | 2014-01-16 |
Attorney, Agent or Firm:
JIAQUAN IP LAW FIRM (CN)
Download PDF:
Previous Patent: LINK CAPACITY ADJUSTMENT METHOD AND DEVICE
Next Patent: NEEDLE SELECTION APPARATUS AND METHOD FOR LATCH NEEDLE WARP KNITTING MACHINE
Next Patent: NEEDLE SELECTION APPARATUS AND METHOD FOR LATCH NEEDLE WARP KNITTING MACHINE