Method of controlling robotic arm with human computer interaction, and terminal and system for same

A terminal for controlling a robotic arm with human-computer interaction, the terminal comprising a processor comprising:

• a virtualization module for virtualizing a robotic arm to provide a virtual robotic arm having at least two movable nodes on a screen, and designating a distal movable node of the at least two movable nodes as a target node;
• a response module for, when the target node is triggered by a user in the screen, responding to a drag-and-drop operation by the user, generating a moving path according to a path of the drag-and-drop operation on the target node;
• and
• a process module for generating a controlling signal for controlling a motion of the robotic arm based on the moving path, and controlling the robotic arm to move according to a motion of the virtual robotic arm based on control of the controlling signal;
• wherein the process module comprises:
• a record unit for, within a set period, based on the moving path, recording a first initial angle between a first reference line and a line connecting the target node at an initial position and an adjacent node, and a first end angle between the first reference line and a line connecting the target node at an end position and the adjacent node;
• a calculation unit for calculating a first angle change of the lines connecting the adjacent node and the target node based on the first initial angle and the first end angle;
• and
• a control unit for generating a first synchronized controlling signal for controlling the motion of the robotic arm based on the first angle change, thereby allowing the robotic arm to move in synchronization with the motion of the virtual robotic arm.

A system for controlling a robotic arm with human-computer interaction, comprising a robotic arm, a driving structure for driving a motion of the robotic arm, and a control terminal for providing a controlling signal for the driving structure, wherein the control terminal comprises a terminal comprising a processor comprising:

• a virtualization module for virtualizing a robotic arm to provide a virtual robotic arm having at least two movable nodes on a screen, and designating a distal movable node of the at least two movable nodes as a target node;
• a response module for, when the target node is triggered by a user in the screen, responding to a drag-and-drop operation by the user, generating a moving path according to a path of the drag-and-drop operation on the target node;
• and
• a process module for generating a controlling signal for controlling a motion of the robotic arm based on the moving path, and controlling the robotic arm to move according to a motion of the virtual robotic arm based on control of the controlling signal;
• wherein the process module comprises:
• a record unit for, within a set period, based on the moving path, recording a first initial angle between a first reference line and a line connecting the target node at an initial position and an adjacent node, and a first end angle between the first reference line and a line connecting the target node at an end position and the adjacent node;
• a calculation unit for calculating a first angle change of the lines connecting the adjacent node and the target node based on the first initial angle and the first end angle;
• and a control unit for generating a first synchronized controlling signal for controlling the motion of the robotic arm based on the first angle change, thereby allowing the robotic arm to move in synchronization with the motion of the virtual robotic arm.