MECHANICAL ARM CONTROL METHOD BASED ON LEAST SQUARES METHOD FOR USE IN ROBOT EXPERIMENTAL TEACHING

摘要

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.