摘要
为解决目前码垛机的机械臂存在抓取位姿控制困难的问题,文章提出一种多自由度码垛机械臂抓取位姿控制方法。先建立机械臂连杆坐标系,然后对抓取任务的执行空间进行分析,设定抓取位置后对抓取操作进行简化,通过控制机械臂的轨迹,实现对机械臂抓取位姿的有效控制。实验结果表明:此方法关节角度误差≤5°,相比两种传统方法缩小了192°和154°。因此,多自由度码垛机械臂抓取位姿控制方法能够较好地控制抓取目标时的位姿,缩短了工作时间,在一定程度上提高机械臂的生产效率。
In order to solve the problem of difficult grasping pose control in the current robotic arm of palletizing machines,a multi degree of freedom palletizing robotic arm grasping pose control method is proposed.Firstly,establish the coordinate system of the robotic arm linkage,and then analyze the execution space of the grasping task;Set the gripping position to simplify the gripping operation;By controlling the trajectory of the robotic arm,effective control of the grasping posture of the robotic arm is achieved.In or⁃der to verify the effectiveness of the proposed method,experiments were conducted.The experimental results showed that the joint an⁃gle error is less than 5°,which was reduced by 192°and 154°compared to the two traditional methods.Therefore,the multi degree of freedom stacking robotic arm grasping pose control method can effectively control the pose of the grasping target,thereby shortening the working time and improving the production efficiency of the robotic arm to a certain extent.
出处
《木工机床》
2023年第4期12-15,共4页
Woodworking Machinery
关键词
码垛机
抓取
位姿
机械臂
stacker
grab
posture
mechanical arm
