CN108818565A - A kind of control method and system that the mechanical arm that writes writes - Google Patents
A kind of control method and system that the mechanical arm that writes writes Download PDFInfo
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- CN108818565A CN108818565A CN201810804656.7A CN201810804656A CN108818565A CN 108818565 A CN108818565 A CN 108818565A CN 201810804656 A CN201810804656 A CN 201810804656A CN 108818565 A CN108818565 A CN 108818565A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Position Input By Displaying (AREA)
Abstract
The invention discloses a kind of control method and system that the mechanical arm that writes writes, method includes：Adjust the high deviation of pen for the mechanical arm that writes；Data Concurrent is write by host computer generation to send；Data are write in the mechanical arm that writes reception, and handle data are write.A kind of control method that the mechanical arm that writes writes of the present invention is connect by host computer with the mechanical arm bluetooth communication that writes, then host computer writes mechanical arm to writing position height according to the location of mechanical arm adjusting of currently writing, it is easy to adjust, it is participated in without artificial, improves degree of regulation.
Description
Technical field
The present invention relates to the mechanical arm that writes, more specifically a kind of control method and system that the mechanical arm that writes writes.
Background technique
The educational desktop mechanical arm of wound visitor on the market, need to manually adjust write mechanical arm pen tip height, due to
The error component of people has that adjusting is not in place, and so as to cause writing, mechanical arm cannot be according to scheduled pen when writing
Cartoon book is write.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of control method that the mechanical arm that writes writes and
System.
To achieve the above object, the present invention uses following technical scheme：A kind of control method that the mechanical arm that writes writes, institute
The method of stating includes：
Adjust the high deviation of pen for the mechanical arm that writes；
Data Concurrent is write by host computer generation to send；
Data are write in the mechanical arm that writes reception, and handle data are write.
Its further technical solution is：The adjusting write mechanical arm pen high deviation the step of, specifically include following step
Suddenly：
Host computer is established to connect with the Bluetooth communication for the mechanical arm that writes；
Host computer sends regulating command；
The mechanical arm that writes receives regulating command, and current nib height position data is fed back to host computer；
Host computer is by pen tip from current location height adjustment to writing position height.
Its further technical solution is：It is described that the step of Data Concurrent is sent is write by host computer generation, it specifically includes following
Step：
Acquire the pixel coordinate for touching point when screen is write in host computer；
Pixel coordinate is converted to the writing coordinate for mechanical arm sphere of action of writing；
All writing coordinate datas after the completion of writing are packaged, and are sent to the mechanical arm that writes.
Its further technical solution is：All writing coordinate datas by after the completion of writing are packaged, and are sent to and are write
The step of word mechanical arm, specifically include following steps：
Determine the data length of packaged data；
Packaged data are divided into one or more data subpackage in order according to data length；
Data subpackage successively is sent to the mechanical arm that writes according to sequencing.
Its further technical solution is：Data are write in the mechanical arm reception of writing, and to writing the step of data are handled,
Specifically include following steps：
Data will be write to save into the caching for writing mechanical arm；
Data are write in parsing caching；
Each point coordinate value for writing point in data is write in judgement；
Position of this on writing panel is determined according to coordinate value；
Arithmetic of inverse kinematics is inputted by the way that coordinate value will be put, pen tip is fallen on into the point to control the mechanical arm that writes.
A kind of control system that the mechanical arm that writes writes, the system comprises adjusting, unit, production unit and processing are single
Member；
The adjusting unit, the high deviation of pen for adjusting the mechanical arm that writes；
The generation unit is sent for writing Data Concurrent by host computer generation；
The processing unit, for writing, data are write in mechanical arm reception, and handle data are write.
Its further technical solution is：The adjusting unit includes establishing module, instruction module, feedback module and pen tip
Adjustment module；
It is described to establish module, it is connect for establishing host computer with the Bluetooth communication for the mechanical arm that writes；
Described instruction module sends regulating command for host computer；
The feedback module, for writing, mechanical arm receives regulating command, and current nib height position data is fed back to
Host computer；
The pen tip adjustment module, for host computer by pen tip from current location height adjustment to writing position height.
Its further technical solution is：The generation unit includes acquisition module, conversion module and packetization module；
The acquisition module, for acquiring the pixel coordinate for touching point when screen is write in host computer；
The conversion module, for pixel coordinate to be converted to the writing coordinate for mechanical arm sphere of action of writing；
The packetization module is packaged for all writing coordinate datas after the completion of writing, and is sent to the machinery that writes
Arm.
Its further technical solution is：The packetization module includes determining module, subpackage module and sending module；
The determining module, for determining the data length of packaged data；
The subpackage module, for packaged data to be divided into one or more data point in order according to data length
Packet；
The sending module, for successively sending data subpackage to the mechanical arm that writes according to sequencing.
Its further technical solution is：The processing unit includes preserving module, parsing module, judgment module, position mould
Block and Arithmetic of inverse kinematics module；
The preserving module is saved for that will write data into the caching for writing mechanical arm；
The parsing module writes data for parsing in caching；
The judgment module, for judging to write each point coordinate value for writing point in data；
The position module, for determining position of this on writing panel according to coordinate value；
The Arithmetic of inverse kinematics, for inputting Arithmetic of inverse kinematics by the way that coordinate value will be put, to control the mechanical arm that writes
Pen tip is fallen on into the point.
Compared with the prior art, the invention has the advantages that：A kind of control method that the mechanical arm that writes writes of the present invention is logical
It crosses host computer to connect with the mechanical arm bluetooth communication that writes, then host computer is write according to the location of mechanical arm adjusting of currently writing
Word mechanical arm is easy to adjust to writing position height, participates in without artificial, improves degree of regulation.
The above description is only an overview of the technical scheme of the present invention, can in order to better understand technical measure
It is implemented in accordance with the contents of the specification, and in order to make above and other objects of the present invention, feature and advantage brighter
Show understandable, special below to lift preferred embodiment, detailed description are as follows.
Detailed description of the invention
Fig. 1 is a kind of flow chart for the control method specific embodiment that the mechanical arm that writes writes of the present invention；
Fig. 2 is the pen that the mechanical arm that writes is adjusted in a kind of control method specific embodiment that the mechanical arm that writes writes of the present invention
The flow chart of high deviation；
Fig. 3 is that host computer generation writes data simultaneously in a kind of control method specific embodiment that the mechanical arm that writes writes of the present invention
The flow chart of transmission；
Fig. 4 is to be packaged all writing number of coordinates in a kind of control method specific embodiment that the mechanical arm that writes writes of the present invention
According to flow chart；
Fig. 5 is in a kind of control method specific embodiment that the mechanical arm that writes writes of the present invention to writing what data were handled
Flow chart；
Fig. 6 is a kind of structure chart for the control system specific embodiment that the mechanical arm that writes writes of the present invention；
Fig. 7 is the structure chart that unit is adjusted in a kind of control system specific embodiment that the mechanical arm that writes writes of the present invention；
Fig. 8 is the structure chart of generation unit in a kind of control system specific embodiment that the mechanical arm that writes writes of the present invention；
Fig. 9 is the structure chart of packetization module in a kind of control system specific embodiment that the mechanical arm that writes writes of the present invention；
Figure 10 is the structure chart of processing unit in a kind of control system specific embodiment that the mechanical arm that writes writes of the present invention.
Specific embodiment
In order to more fully understand technology contents of the invention, combined with specific embodiments below to technical solution of the present invention into
One step introduction and explanation, but not limited to this.
It should be appreciated that herein, relational terms such as first and second and the like are used merely to an entity/behaviour
Work/object is distinguished with another entity/operation/object, without necessarily requiring or implying these entity/operation/objects
Between there are any actual relationship or orders.
It is also understood that the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion,
So that the process, method, article or the system that include a series of elements not only include those elements, but also including not having
The other element being expressly recited, or further include for this process, method, article or the intrinsic element of system.Do not having
In the case where having more limitations, the element that is limited by sentence "including a ...", it is not excluded that include the element process,
There is also other identical elements in method, article or system.
As shown in Figs. 1-5, the present invention provides a kind of control method that the mechanical arm that writes writes, this method includes：
S10, the high deviation of pen for adjusting the mechanical arm that writes；
S20, it writes Data Concurrent by host computer generation and send；
S30, the mechanical arm that writes reception are write data, and are handled data are write.
Specifically, mechanical arm can use existing desktop mechanical arm, writing pen can tie up holding in mechanical arm by adhesive tape
The end of row device.But due to because of user installation etc., the fixation position of writing pen on the robotic arm has nuance, causes
Pen tip is too high or too low from paper (or other faces of writing) when writing, to influence effect of writing, therefore needs the height to pen tip
It is adjusted.In certain embodiments, it after the height adjustment of pen tip is good, needs to reset the mechanical arm that writes, is
The pen tip position for the mechanical arm that writes is adjusted on the panel write.Host computer can be the equipment such as mobile phone or plate, this reality
The mobile phone with touch screen used in example is applied, is slided on mobile phone screen by finger to form different text or figure
Case, the mechanical armband that makes to write move writing pen and paint out corresponding text and pattern.
Further, step S10 specifically includes following steps：
S101, it establishes host computer and is connect with the Bluetooth communication for the mechanical arm that writes；
S102, host computer send regulating command；
S103, the mechanical arm that writes receive regulating command, and current nib height position data is fed back to host computer；
S104, host computer are by pen tip from current location height adjustment to writing position height.
In order to improve the stability of host computer with the communication for the mechanical arm that writes, using Bluetooth communication.When host computer sends pen
After the regulating command of cusp height, the response for the mechanical arm that writes is waited, it, can be current after the mechanical arm that writes receives regulating command
Pen tip height position data feed back to host computer, host computer is according to the current nib height and position of feedback and combines pen tip need
The position adjusted obtains the distance that needs are adjusted.Specifically, the range of pen tip height adjustment is -3~3mm, pen tip can be made
Down or up 3mm.
Further, step S20 specifically includes following steps：
The pixel coordinate of the point of S201, acquisition when the touch screen of host computer is write；
S202, the writing coordinate that pixel coordinate is converted to mechanical arm sphere of action of writing；
S203, all writing coordinate datas after the completion of writing are packaged, and are sent to the mechanical arm that writes.
It is made of several points due to each stroke to write, is write on the touchscreen so needing to acquire finger
When point pixel coordinate.Since the pixel coordinate of point is just for for the touch screen of finger manipulation, therefore, it is necessary to by picture
Plain coordinate is converted to mechanical arm sphere of action of writing (sphere of action refers to writing pen in the range write on panel of writing)
Coordinate.
Further, step S203 specifically includes following steps：
S2031, the data length for determining packaged data；
S2032, packaged data are divided into one or more data subpackage in order according to data length；
S2033, data subpackage successively is sent to the mechanical arm that writes according to sequencing.
Since the data volume of packing may be excessive, to guarantee data interaction efficiency and generation the case where prevent packet loss, because
This needs to send data using subpackage.Specifically, a bag data length up to 250 byte, most 123 of each packet
Point, if it exceeds 250, then need subpackage to send.For example, a stroke obtains 250 points altogether, according to each packet most 123
A, therefore, it is necessary to point 3 packets to send, then the first packet can be labeled as：Data1 is 0x03, Data2 0x01；Second packet can be marked
It is denoted as：Data1 is 0x03, Data2 0x02；Third packet can be labeled as：Data1 is 0x03, Data2 0x03.Wherein,
Total stroke that Data1 is indicated is made of how many a data subpackages, and Data2 indicates which packet current data subpackage is.Than
Such as, what Data1 0x03, Data2 were that 0x01 indicates is in total there are three subpackage, and current packet is the first packet.
In addition, judgement landing and the method for receiving pen are, when Data2 is 0x01, this subpackage is first packet, i.e.,
It can determine whether to start to write, when Data2 is equal to Data1, then the subpackage is the last one packet, can be judged as end, it should the first stroke of a Chinese character.
It is worth noting that, the pen started to write will not lift pen again before encountering the first stroke of a Chinese character.
Further, step S30 specifically includes following steps：
S301, it data will be write saves into the caching for writing mechanical arm；
Data are write in S302, parsing caching；
S303, judgement write each point coordinate value for writing point in data；
S304, position of this on writing panel is determined according to coordinate value；
S305, Arithmetic of inverse kinematics is inputted by the way that coordinate value will be put, pen tip is fallen on into the point to control the mechanical arm that writes.
When the mechanical arm that writes, which receives, writes data, need to store data into caching in advance, then to data into
Row parsing, and judge coordinate position of each point on writing panel.It, can be by corresponding coordinate after determining coordinate position
Value input inverse kinematics practises algorithm, and pen tip is fallen on corresponding point to control the mechanical arm that writes.Algorithm category is practised for inverse kinematics
In existing knowledge, seldom repeat herein.
As illustrated in figures 6-10, the present invention also provides a kind of control system that the mechanical arm that writes writes, the system with it is above-mentioned
A kind of control method write of mechanical arm that writes it is corresponding, which includes adjusting unit 1, production unit 2 and processing
Unit 3；
Adjust unit 1, the high deviation of pen for adjusting the mechanical arm that writes；
Generation unit 2 is sent for writing Data Concurrent by host computer generation；
Processing unit 3, for writing, data are write in mechanical arm reception, and handle data are write.
Specifically, mechanical arm can use existing desktop mechanical arm, writing pen can tie up holding in mechanical arm by adhesive tape
The end of row device.But due to because of user installation etc., the fixation position of writing pen on the robotic arm has nuance, causes
Pen tip is too high or too low from paper (or other faces of writing) when writing, to influence effect of writing, therefore needs the height to pen tip
It is adjusted.In certain embodiments, it after the height adjustment of pen tip is good, needs to reset the mechanical arm that writes, is
The pen tip position for the mechanical arm that writes is adjusted on the panel write.Host computer can be the equipment such as mobile phone or plate, this reality
The mobile phone with touch screen used in example is applied, is slided on mobile phone screen by finger to form different text or figure
Case, the mechanical armband that makes to write move writing pen and paint out corresponding text and pattern.
Further, adjusting unit 1 includes establishing module 11, instruction module 12, feedback module 13 and pen tip to adjust mould
Block 14；
Module 11 is established, is connect for establishing host computer with the Bluetooth communication for the mechanical arm that writes；
Instruction module 12 sends regulating command for host computer；
Feedback module 13, for writing, mechanical arm receives regulating command, and current nib height position data is fed back to
Position machine；
Pen tip adjustment module 14, for host computer by pen tip from current location height adjustment to writing position height.
In order to improve the stability of host computer with the communication for the mechanical arm that writes, using Bluetooth communication.When host computer sends pen
After the regulating command of cusp height, the response for the mechanical arm that writes is waited, it, can be current after the mechanical arm that writes receives regulating command
Pen tip height position data feed back to host computer, host computer is according to the current nib height and position of feedback and combines pen tip need
The position adjusted obtains the distance that needs are adjusted.Specifically, the range of pen tip height adjustment is -3~3mm, pen tip can be made
Down or up 3mm.
Further, generation unit 2 includes acquisition module 21, conversion module 22 and packetization module 23；
Acquisition module 21, for acquiring the pixel coordinate for touching point when screen is write in host computer；
Conversion module 22, for pixel coordinate to be converted to the writing coordinate for mechanical arm sphere of action of writing；
Packetization module 23 is packaged for all writing coordinate datas after the completion of writing, and is sent to the mechanical arm that writes.
Further, packetization module 23 includes determining module 231, subpackage module 232 and sending module 233；
Determining module 231, for determining the data length of packaged data；
Subpackage module 232, for packaged data to be divided into one or more data subpackage in order according to data length；
Sending module 233, for successively sending data subpackage to the mechanical arm that writes according to sequencing.
Since the data volume of packing may be excessive, to guarantee data interaction efficiency and generation the case where prevent packet loss, because
This needs to send data using subpackage.Specifically, a bag data length up to 250 byte, most 123 of each packet
Point, if it exceeds 250, then need subpackage to send.For example, a stroke obtains 250 points altogether, according to each packet most 123
A, therefore, it is necessary to point 3 packets to send, then the first packet can be labeled as：Data1 is 0x03, Data2 0x01；Second packet can be marked
It is denoted as：Data1 is 0x03, Data2 0x02；Third packet can be labeled as：Data1 is 0x03, Data2 0x03.Wherein,
Total stroke that Data1 is indicated is made of how many a data subpackages, and Data2 indicates which packet current data subpackage is.Than
Such as, what Data1 0x03, Data2 were that 0x01 indicates is in total there are three subpackage, and current packet is the first packet.
In addition, judgement landing and the method for receiving pen are, when Data2 is 0x01, this subpackage is first packet, i.e.,
It can determine whether to start to write, when Data2 is equal to Data1, then the subpackage is the last one packet, can be judged as end, it should the first stroke of a Chinese character.
It is worth noting that, the pen started to write will not lift pen again before encountering the first stroke of a Chinese character.
Further, processing unit 3 include preserving module 31, parsing module 32, judgment module 33, position module 34 and
Arithmetic of inverse kinematics module 35；
Preserving module 31 is saved for that will write data into the caching for writing mechanical arm；
Parsing module 32 writes data for parsing in caching；
Judgment module 33, for judging to write each point coordinate value for writing point in data；
Position module 34, for determining position of this on writing panel according to coordinate value；
Arithmetic of inverse kinematics 35, for inputting Arithmetic of inverse kinematics by that will put coordinate value, writing mechanical arm with control will
Pen tip falls on the point.
When the mechanical arm that writes, which receives, writes data, need to store data into caching in advance, then to data into
Row parsing, and judge coordinate position of each point on writing panel.It, can be by corresponding coordinate after determining coordinate position
Value input inverse kinematics practises algorithm, and pen tip is fallen on corresponding point to control the mechanical arm that writes.Algorithm category is practised for inverse kinematics
In existing knowledge, seldom repeat herein.
It is above-mentioned that technology contents of the invention are only further illustrated with embodiment, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by of the invention
Protection.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of control method that the mechanical arm that writes writes, which is characterized in that the method includes：
Adjust the high deviation of pen for the mechanical arm that writes；
Data Concurrent is write by host computer generation to send；
Data are write in the mechanical arm that writes reception, and handle data are write.
2. the control method that a kind of mechanical arm that writes according to claim 1 writes, which is characterized in that the adjusting is write
The step of pen of mechanical arm high deviation, specifically include following steps：
Host computer is established to connect with the Bluetooth communication for the mechanical arm that writes；
Host computer sends regulating command；
The mechanical arm that writes receives regulating command, and current nib height position data is fed back to host computer；
Host computer is by pen tip from current location height adjustment to writing position height.
3. the control method that a kind of mechanical arm that writes according to claim 1 writes, which is characterized in that described by upper
The step of Data Concurrent is sent is write in machine generation, specifically includes following steps：
Acquire the pixel coordinate for touching point when screen is write in host computer；
Pixel coordinate is converted to the writing coordinate for mechanical arm sphere of action of writing；
All writing coordinate datas after the completion of writing are packaged, and are sent to the mechanical arm that writes.
4. the control method that a kind of mechanical arm that writes according to claim 3 writes, which is characterized in that described to have write
All writing coordinate datas after are packaged, and are sent to the step of writing mechanical arm, specifically include following steps：
Determine the data length of packaged data；
Packaged data are divided into one or more data subpackage in order according to data length；
Data subpackage successively is sent to the mechanical arm that writes according to sequencing.
5. the control method that a kind of mechanical arm that writes according to claim 1 writes, which is characterized in that the machinery that writes
Data are write in arm reception, and to the step of data are handled is write, specifically include following steps：
Data will be write to save into the caching for writing mechanical arm；
Data are write in parsing caching；
Each point coordinate value for writing point in data is write in judgement；
Position of this on writing panel is determined according to coordinate value；
Arithmetic of inverse kinematics is inputted by the way that coordinate value will be put, pen tip is fallen on into the point to control the mechanical arm that writes.
6. a kind of control system that the mechanical arm that writes writes, which is characterized in that the system comprises adjust unit, production unit with
And processing unit；
The adjusting unit, the high deviation of pen for adjusting the mechanical arm that writes；
The generation unit is sent for writing Data Concurrent by host computer generation；
The processing unit, for writing, data are write in mechanical arm reception, and handle data are write.
7. the control system that a kind of mechanical arm that writes according to claim 6 writes, which is characterized in that the adjusting unit
Including establishing module, instruction module, feedback module and pen tip adjustment module；
It is described to establish module, it is connect for establishing host computer with the Bluetooth communication for the mechanical arm that writes；
Described instruction module sends regulating command for host computer；
The feedback module, for writing, mechanical arm receives regulating command, current nib height position data is fed back to upper
Machine；
The pen tip adjustment module, for host computer by pen tip from current location height adjustment to writing position height.
8. the control system that a kind of mechanical arm that writes according to claim 6 writes, which is characterized in that the generation unit
Including acquisition module, conversion module and packetization module；
The acquisition module, for acquiring the pixel coordinate for touching point when screen is write in host computer；
The conversion module, for pixel coordinate to be converted to the writing coordinate for mechanical arm sphere of action of writing；
The packetization module is packaged for all writing coordinate datas after the completion of writing, and is sent to the mechanical arm that writes.
9. the control system that a kind of mechanical arm that writes according to claim 8 writes, which is characterized in that the packetization module
Including determining module, subpackage module and sending module；
The determining module, for determining the data length of packaged data；
The subpackage module, for packaged data to be divided into one or more data subpackage in order according to data length；
The sending module, for successively sending data subpackage to the mechanical arm that writes according to sequencing.
10. the control system that a kind of mechanical arm that writes according to claim 6 writes, which is characterized in that the processing is single
Member includes preserving module, parsing module, judgment module, position module and Arithmetic of inverse kinematics module；
The preserving module is saved for that will write data into the caching for writing mechanical arm；
The parsing module writes data for parsing in caching；
The judgment module, for judging to write each point coordinate value for writing point in data；
The position module, for determining position of this on writing panel according to coordinate value；The Arithmetic of inverse kinematics,
For inputting Arithmetic of inverse kinematics by the way that coordinate value will be put, pen tip is fallen on into the point to control the mechanical arm that writes.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677167A (en) * | 2019-03-07 | 2019-04-26 | 郝建树 | A kind of high school student's examination auxiliary writing device |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | How a robotic arm works |
| CN109774353A (en) * | 2019-03-07 | 2019-05-21 | 赵木琦 | It takes an examination towards high school student and assists the fixed plate and method of writing device |
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Application publication date: 20181116 |