Optimal Trajectory Control Method For Mechanical Arm With Limited Performance Joints And Obstacle Avoidance Research

Along with the rapid development of artificial intelligence,people not only stay in to the demand of mechanical arm to complete the assigned task,but also requires them to as much as possible on the basis of guarantee the quality of work to get the energy conservation and emissions reduction requirements,so to improve the work efficiency of mechanical arm and improve its performance has become a research focus on the content of the mechanical arm in order to give full play to the performance of the mechanical arm,not only to consider the principle of kinematics and dynamics,and necessary to consider the effect of friction on as a result,based on the level of multi-joint SCARA robot arm as the research object,by improving the mechanical arm trajectory planning method for related parameters acquisition in and join the friction model,studies the energy optimal trajectory control method.At the same time in terms of obstacle avoidance,this paper proposes a mechanical arm based on artificial potential field gravity factor of the shortest obstacle avoidance path planning model,by building and solving the gravity factor,studies how to realize the obstacle avoidance problem of mechanical arm is safe and effective.Firstly,this paper describes the background and significance of the optimal trajectory control method and the obstacle avoidance of the mechanical arm based on the finite performance joint.This paper introduces the development status of industrial robots at home and abroad,the development status of trajectory planning and research on the obstacle avoidance of mechanical arm.The theory of kinematics and dynamics is outlined,and the kinematics equations and dynamics equations of the manipulator are established by using kinematics and kinematic knowledge,which lays a foundation for the future trajectory planning.Secondly,the optimal trajectory control method of mechanical arm with finite performance joint is transformed into nonlinear constrained programming problem.The optimal trajectory planning problem is described by setting the energy consumption of joint torque and the total energy consumption of friction as the energy optimization objective.Discrete grid design for each joint Angle displacement is described,and then reuse differential dynamic model for joint speed,and the continuity of torque expression,using nonlinear constrained programming method to solve the energy optimal trajectory.Finally,simulation experiments verify the model proposed in this paper based on the constraints of energy optimal trajectory planning algorithm is effective,and is under the limited power enhances the working efficiency of the joint motor provides guidance significance conclusion.Finally,this paper analyzes the function and influence of the parameters in the artificial potential field by analyzing the basic principle of artificial potential field.A model of the shortest obstacle avoidance path planning of mechanical arm based on artificial potential field is proposed.By constructing and solving the gravity factor?_f,the shortest obstacle avoidance path of the manipulator is realized,The optimal path characteristics of different obstacle size and position are analyzed,and the plane model of industrial SCARA robot is used to analyze the joint Angle path characteristics of the manipulator arm.This algorithm has good real-time performance and can adapt to the variation of obstacle position and size,which meet the requirement of the optimal obstacle avoidance path.It provides theoretical significance for the study of mechanical arm obstacle avoidance,and also provides an analytical approach for improving the artificial potential field method.