Control Method of Large Crane Mechanical Arm Based on Lidar
The conventional obstacle avoidance control method of large crane mechanical arm mainly focuses on the generalized straight line distance control,ignores the spatial sense caused by the shaking error caused by the instanta-neous speed of the mechanical arm,and uses the half cycle trajectory generator iteration,which is similar to the whole cy-cle control process,and affects the obstacle avoidance control effect of crane.A control method for large crane mechanical arm based on lidar is designed in this paper.The obstacles in the running path of the crane arm are approximate to the surrounding ball to avoid the disadvantages of simple straight line distance judgment.The experimental results show that the position error of the manipulator arm joint is 9.210-7 rad,and the angular velocity error is 6.210-7 rad/s.
万方数据
维普
