The mechanical arm is a mechanical device that can imitate the movement of human arms. Through the power source such as electric power, hydraulic pressure or pneumatic power, combined with the control system, the precise control of all joint manipulator pipelines is realized, so as to complete complex repetitive actions and fine operations. In the control of mechanical arm, it involves mechanical structure design, sensors, control algorithm and many other aspects.

Control principle:

1. position control: the current position information of the manipulator is obtained through the sensor, and the angle or distance to be rotated is calculated according to the given target position. Then, the controller controls the corresponding driver or actuator according to the calculated rotation angle or distance, so as to realize the precise movement of the arm. This control method is simple and suitable for scenes that do not need precise control.

2. Force control: When the manipulator is operating, it often needs to make corresponding action adjustments according to the strength of the operating object. The principle of force control is based on the external force signals obtained by sensors, and these signals are compared with the target force to calculate the error value. Then the control algorithm is adjusted according to the error value, and then the output force of the constant-speed driver is controlled, so that the force exerted by the mechanical arm can reach the expected goal. This control method is suitable for scenes such as assembly work and material handling that need to adjust the feedback of operating force.

3. Speed control: Speed control is a method to control the rotation speed of the robot arm according to its task requirements. The current speed is obtained by the controller and compared with the set target speed. Then, the controller adjusts the output of the system according to the error value, so as to realize the speed control of the manipulator. In speed control, open-loop control or closed-loop control can be used to achieve the purpose of accurate control.

4. Torque control: Torque control refers to comparing the current torque information of the manipulator with the set target torque and adjusting the command signal to make the output torque of the manipulator close to the target torque. This control method can make the manipulator have stronger dynamic performance and anti-interference performance, and is suitable for scenes such as precision assembly and force adjustment that need to apply precise torque to the end effector.

Of course, in addition to the above centralized basic control methods, it can also be controlled by combining kinematics and dynamics models. The kinematic model of the manipulator can describe the geometric relationship between the joints of the manipulator, while the dynamic model can describe the motion and torque output of the manipulator under the action of external force. Through the modeling of kinematics and dynamics models, the trajectory and torque of the manipulator can be accurately controlled.

Summary: The control principle of manipulator mainly includes position control, force control, speed control and torque control. Different application scenarios use different control methods, and appropriate control methods can be selected according to specific needs. In addition, the precise control and optimal adjustment of the manipulator can be realized by combining advanced control technologies such as kinematics and mechanical model. With the application of these control principles, the mechanical arm can be widely used in industrial automation, medical service, warehousing and logistics, and the production efficiency and work quality are greatly improved.