Design and Research of Automatic Joint Angle Control Method for Multi-Degree-of-Freedom Manipulators
In order to solve the problems in the current motion trajectory control and accuracy compensation of manipulators,an automatic joint angle control scheme for multi-degree-of-freedom manipulators is proposed.On the basis of the dynamic analysis of the motion process of the connecting rods and joint parts of the multi-degree-of-freedom manipulators,combined with the gradient descent method and the artificial neural system,a strategy that can realize the automatic control of the connecting parts and the control parts of the manipulators is proposed,and the angle control model of the joints of the multi-degree-of-freedom manipulators is built.Experiments show that the proposed control strategy can well control the joint angle of the manipulators and track the motion trajectory of the manipulators well,and this effectively improves the grasping accuracy of the manipulators and the grasping ac-curacy reaches 96％.
multi-degree-of-freedom manipulatorjoint angle controldynamic model
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