Continuous Trajectory Point Control Research of Six Degree of Freedom Mechanical Intelligent Arm Position

摘要

In view of the low pointing accuracy problem of the hanging wire weight control method adopted in current mechanical arm control, for the control of the mechanical arm, a mechanical intelligent arm position control method based on continuous trajectory point control is proposed to improve the control accuracy of mechanical intelligent arm. The kinematic behavior planning model of the mechanical arm in six degree of freedom motion space is constructed. The end-effect inverse kinematics decomposition method is used to obtain the vector set of mechanical arm joint rotation. The parametric self-tuning regulation is used to control parameters optimization. Continuous trajectory point control method is adopted to improve the accuracy of mechanical intelligent arm position change and achieve high-precision arm control. Simulation results show that six degree of freedom mechanical intelligent arm accuracy control has higher precision, minimized convergence error and higher robustness with this control method.