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A platform for research: civil engineering, architecture and urbanism
Research on joint motion control for multi-degree-of-freedom manipulator
The structure of the manipulator has the characteristics of high nonlinearity and strong coupling, and high-precision motion control is a hot topic of concern for scholars.The AR4 manipulator was used as the research object to systematically analyze the forward and inverse kinematics that greatly impact the control of the manipulator, determining the manipulator’s corresponding structural parameters.And the D-H method was used to solve the numerical calculation model of the manipulator forward and inverse kinematics.The cubic spline interpolation algorithm was used to optimize the manipulator's jitter phenomenon in the joint space.In Cartesian space planning, the linear interpolation method was used to reduce the end effector’s motion distance.The specific planning points were obtained by Matlab simulation，meeting the design requirements.Finally, the SolidWorks was used to establish a three-dimensional model of the manipulator and generate an unified robot description formatc (URDF)model.The actual trajectory of the manipulator in joint and Cartesian space was planned according to MoveIt, and through RViz, the movement process was displayed.The results show that after adding the cubic spline interpolation algorithm, the joint motors of the manipulator can maintain stable operation, and the joint trajectory curvature is respectively reduced by 15.4%, 35.6%, 21.3%, 26.8%, 18.98% and 45.7%, which effectively solves the jitter vibration problem during joint movement and achieves smooth motion of the manipulator.
Research on joint motion control for multi-degree-of-freedom manipulator
The structure of the manipulator has the characteristics of high nonlinearity and strong coupling, and high-precision motion control is a hot topic of concern for scholars.The AR4 manipulator was used as the research object to systematically analyze the forward and inverse kinematics that greatly impact the control of the manipulator, determining the manipulator’s corresponding structural parameters.And the D-H method was used to solve the numerical calculation model of the manipulator forward and inverse kinematics.The cubic spline interpolation algorithm was used to optimize the manipulator's jitter phenomenon in the joint space.In Cartesian space planning, the linear interpolation method was used to reduce the end effector’s motion distance.The specific planning points were obtained by Matlab simulation，meeting the design requirements.Finally, the SolidWorks was used to establish a three-dimensional model of the manipulator and generate an unified robot description formatc (URDF)model.The actual trajectory of the manipulator in joint and Cartesian space was planned according to MoveIt, and through RViz, the movement process was displayed.The results show that after adding the cubic spline interpolation algorithm, the joint motors of the manipulator can maintain stable operation, and the joint trajectory curvature is respectively reduced by 15.4%, 35.6%, 21.3%, 26.8%, 18.98% and 45.7%, which effectively solves the jitter vibration problem during joint movement and achieves smooth motion of the manipulator.
Research on joint motion control for multi-degree-of-freedom manipulator
LI Meiqiang (author) / MA Qinglu (author) / YAN Hao (author) / YU Tengwei (author)
2025
Article (Journal)
Electronic Resource
Unknown
Metadata by DOAJ is licensed under CC BY-SA 1.0
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