Research on Control Method of Five Degree of Freedom Manipulator Based on OpenMV
Taking the five degree of freedom manipulator as the research object,the D-H mathematical model was established,the process of calculating the joint angle by geometric method and algebraic method was explored,and the motion trajectory planning algo-rithm using quintic polynomial interpolation was used.By establishing the simulation model,the effectiveness of the kinematic solution method and trajectory planning algorithm was verified.An inverse kinematics analysis method based on the geometric model of manipula-tor was adopted to design the image recognition and processing algorithm of OpenMV camera to precisely locate the target,and the posi-tion and pose of the target were sent to the main control system to realize the function of the five degree of freedom manipulator to grab the target autonomously.Table tennis was used as the target for experimental verification.The experimental results show that using the design,the target object can be precisely located,the effective grasp is completed,and the control performance is stable and reliable.
万方数据
维普
