Anti-Push-Wrap Attitude Control of a Three-Degree-of-Freedom Robotic Arm Based on Attitude Enumeration Algorithm
Since the current method is not effective in the anti-push-wrap attitude control of three-degree-of-freedom robotic arm,and the tilt angle of the robotic arm varies a lot,we propose the anti-push-wrap attitude control method of three-degree-of-freedom robotic arm based on attitude enumeration algorithm in order to address the shortcomings and defects of the current method.The kinematic mathematical model of three-degree-of-freedom robotic arm is established,the end position of robotic arm is determined by solving,the interpolation method is used to discretize the trajectory of the robotic arm,the coordinate difference of the discrete points is determined,and the position enumeration algorithm is used to enumerate the end position of the robotic arm,resisting the change of the end position of the end position of the push-wrap and realizing the three-degree-of-freedom robotic arm anti-push-wrap attitude control based on the position enumeration algorithm.It is proved by experiments that under the application of the design method,the tilt angle of the robotic arm changes within 2°,which can effectively resist the push-wrap motion of the robotic arm and ensure the stability of the robotic arm attitude.
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