Adaptive Tracking of Joint Space Trajectory of Volleyball Robot Robotic Arm
In order to solve the problems of high tracking time,high interference impact,and large tracking error in the joint space trajectory tracking process of existing volleyball robot robotic arms,a self-adaptive tracking method for the joint space tra-jectory of volleyball robot robotic arms is proposed.The D-H method is used to construct the coordinate system of the volleyball ro-bot,establish the dynamic model of the volleyball robot′s robotic arm,and obtain the relationship between the robotic arm joints;The Newton downhill method is used to solve the inverse solution set of kinematics,and the shortest path tracking process is solved.The trajectory of the volleyball manipulator is tracked in segments by spline interpolation function.The cubic spline interpolation is used to establish the corner function,determine the constraint conditions of multiple nodes in the multi tracking segment inter-val,and realize the adaptive tracking of the spatial trajectory of the manipulator joint.The experimental results show that The tracking time is always not more than 2s,and under the torque interference of 10N/m,the trajectory curve deviation is small.It only takes 18s to return to a stable tracking state,the error of multi-node tracking is(+15～-25)cm,and the tracking error can be corrected within1s,and the tracking effect is better.
NETL
NSTL
万方数据
维普
