Hunan Sany Intelligent Control Equipment Co., Ltd.

Sany Heavy Industry Co., Ltd.

Qiulian Deng

Xiaogang Yi

Xiang Zhou

Antao Chen

Jihui Zhou

A control method of a mechanical articulated arm, wherein at least two tilt sensors are arranged in different positions of the articulated arm, comprising: calibrating zero positions of tilt sensors when articulated arm does not have elastic deformation, setting position of tail end of articulated arm as point P and point P' before and after elastic deformation of articulated arm, and selecting point R on the articulated arm; detecting angles of two different positions of the articulated arm with the tilt angles before and after the elastic deformation, obtaining the angle offset &#x394;&#x3b8; of the articulated arm due to the elastic deformation, and calculating the length parameter Land the angle parameter &#x3b8;of the articulated arm after deformation based on the lengths of OR and RP&#x2032;; and controlling the action of the articulated arm according to position parameters X&#x2032; and Y&#x2032; (to the point P&#x2032;) obtained according to length parameter Land angle parameter &#x3b8;.

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Changsha, China

Qiulian Deng