Control method for five-axis series mechanical arm of explosive ordnance disposal robot
The invention discloses a control method for a five-axis series mechanical arm of an explosive ordnance disposal robot. The method comprises the following steps that a five-axis mechanism is divided into three parts, and control algorithm design is carried out on the three parts; the first part is j...
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| creator | XIN YANFENG GAO XIAOCHUAN JIANG BO |
| description | The invention discloses a control method for a five-axis series mechanical arm of an explosive ordnance disposal robot. The method comprises the following steps that a five-axis mechanism is divided into three parts, and control algorithm design is carried out on the three parts; the first part is joint space operation of a first axis, the action of the second part is defined as operation of the position and pitching parameters (x, z and alpha) of an XZ plane, and the third part is joint space operation of a fifth axis; the mechanical arm directly faces a target operation object through the space action of the first shaft joint, the second part operates to be close to the target object in the plane space, then the grabbing posture is adjusted through the space action of the fifth shaft joint, and task operation is completed; and the mechanical arm is operated in the plane of the first part and the second part to reach the posture suitable for driving of the unmanned vehicle, and other task operations are cond |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING |
| title | Control method for five-axis series mechanical arm of explosive ordnance disposal robot |
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