Research on Movement Performance and Motion Control of Manipulator with Load
The continuous development of industry has higher and higher load requirements for the robot arm, and the increase of load will affect the accuracy of the end of the robot arm. In this paper, the for-ward and inverse kinematics of a seven-axis serial manipulator are analyzed by M-DH method and Jacobi iteration method. The trajectory planning of joint space is carried out by cubic function interpolation method. A dynamic model of the manipulator is established based on Lagrange equation, and the effec-tiveness of the model is verified by numerical methods. Finally, based on the positioning control, the re-lationship between the convergence rate of the end position error, the load quality and the control param-eters is studied.
serial manipulatorloadpositioning accuracydynamic modelingcontrol compensa-tion
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