The basketball shooting robot is a mechanical device that plans and controls the shooting action,and the arm is the key part of the robot shooting process.In the process of shooting,the robot arm is prone to vibration,which affects the shooting ef-fect of the robot.Therefore,the research on the trajectory optimization method of basketball shooting robot arm is proposed.This method establishes the motion model and feedback model of the arm of the basketball shooting robot,and obtains the relevant da-ta of the shooting robot in the movement process.Based on this,the trajectory of the robot arm is planned by using the quintic poly-nomial interpolation method.Particle swarm optimization(PSO)algorithm and iteration method are used to optimize the trajec-tory of the arm of the basketball shooting robot.The experimental results show that the proposed method can effectively optimize the trajectory of the robot arm,and keep the angular displacement,angular velocity,angular acceleration and vibration re-sponse of the trajectory stable during the movement process.
关键词
机器人手臂运动轨迹/线性控制方法/卡尔曼滤波/五次多项式/粒子群优化算法/优化控制
Key words
Robot Arm Motion Trajectory/Linear Control Method/Kalman Filter/Quintic Polynomial/Particle Swarm Optimization Algorithm/Optimize Control
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