Trajectory Control of Live Working Robotic Arm under Prior Virtual Repulsive Force Constraint
Due to the need for the robotic arm in live working to avoid electrical equipment and obstacles,the stability of poste-rior constraints is poor,and may result in significant control curve errors.Hence,a motion control method for live working ro-botic arms under virtual repulsion constraints is proposed.It calculates the function and potential energy of the joint of the ro-botic arm with a motor.The artificial potential field method is used for obstacle detection,and the virtual repulsion force with prior properties is calculated based on the function and potential energy of the robotic arm joint.It sets corresponding con-straints on the distance between the robotic arm and the obstacle based on virtual repulsion.Based on the set constraints,a mo-tion control model of the robotic arm is constructed using a CPG neural network.The experimental results show that the pro-posed method's robotic arm motion control position is almost identical to the target position,perfectly fits the target curve,and has fast response ability.
live workingvirtual repulsive forceCPG neural networktrajectory control
万方数据
维普
