Robotic arm control system and method

摘要

A robotic arm control system is provided. In, the robotic arm control system, any three points A, B, and C of an object to be determined are picked, thereby creating an original coordinate system. A robotic arm is directed to rotate around the x-axis of the original coordinate system to reach the points B and C. During the rotation of the robotic arm, the three points A, B, and C are recorded by a visual process. A non-linear mapping relation of the original coordinate system and the operation coordinate system is calculated according to length ratios, an angular ratio, and a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C, thereby controlling the movement of the robotic arm according to the non-linear mapping relation. The disclosure further provides a robotic arm control method.

主权项

1. A robotic arm control method applied in a computing apparatus, comprising:
picking any three points A, B, and C of an object to be determined to create an original coordinate system having x-axis, y-axis, and z-axis with the point A as the origin; directing a terminal mechanism of a robotic arm to rotate about the x-axis of the original coordinate system by a first angle such that a center of the terminal mechanism reaches the point B, and directing the terminal mechanism to rotate about the x-axis by a second angle such that the center of the terminal mechanism reaches the point C, wherein during the rotation of the terminal mechanism, points A′, B′, and C′ of an operation coordinate system of the robotic arm with the point A′ as the origin respectively corresponding to the points A, B, and C of the original coordinate system are recorded by a visual process, while a central axis of a flange face of the robotic arm is kept perpendicular to the object; calculating length ratios of a line A′-B′ of the operation coordinate system to a line A-B of the original coordinate system and a line A′-C′ of the operation coordinate system to a line A-C of the original coordinate system as well as an angular ratio of an angle between the line A′-B′ and the line A′-C′ to an angle between the line A-B and the line A-C, and calculating a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C; calculating a non-linear mapping relation of the original coordinate system and the operation coordinate system according to the length ratio, the angular ratio, and the differential ratio; and controlling the movement of the robotic arm according to the non-linear mapping relation.