HYBRID MASTER-SLAVE MAPPING METHOD, ROBOTIC ARM SYSTEM, AND COMPUTER DEVICE
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United States of America Patent
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Issued Date -
Feb 8, 2024
app pub date -
Dec 30, 2020
filing date -
Dec 30, 2020
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Abstract
A hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm; decomposing a displacement from the current position to the target position into a vertical direction and a horizontal plane to obtain a vertical displacement position and a horizontal displacement position; determining a first control amount of a multi-degree-of-freedom parallel platform according to the vertical displacement position, and determining a second control amount of a passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and controlling the passive arm according to the second control amount.
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