Polynomial Interpolation Improved Motion Control of Table Tennis Ball Pickup Manipulator
The ping pong ball picking robot is easily constrained by factors such as the field and mechanical structure during the working process,and cannot accurately pick up the ping pong ball.To this end,a polynomial interpolation improved motion con-trol for the table tennis ball picking robot arm is proposed.By using the schematic diagram of the table tennis picking robot and the optimization principle of the robotic arm,the structure of the picking robotic arm is optimized and designed.The trajectory function of the picking robotic arm is constructed using the 3-5-3polynomial interpolation method,and based on this,the trajec-tory planning of the picking robotic arm is achieved using chaotic particle swarm optimization algorithm.The experimental results show that the proposed method can accurately plan the trajectory of the ball picking robotic arm,and it is less affected by random disturbances.The average control error is0.01,and it has good control effect.
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