Research Of7DOF Humanoid Manipulators’s Trajectory Plannigand Control

Table tennis is a much popular game in china, the research on ping-pong robot has greatsignificance. The robot should strike the ball with proper position and velocity in right strikingtime. The research on kinematics and dynamics of manipulators, which is actuators of ping-pongrobot should be in-depth study.Aiming at the move requirements of ping-pong robot, a combined sine function method isproposed to plan all the joints of the7-DOF humanoid robot, a modified adaptive iterativelearning technology is implemented for the robot control following the idea of “manipulatormodeling�'kinematic and dynamic analysis�'trajectory planning�'control strategiesresearch”, so as to make humanoid robot move fast with correct position.According to redundancy and ball hitting requirements, the inverse kinematic of jointvariables is solved using geometric method and the relationship of rod position and orientation;the Jacobi matrix is deduced to solve striking velocity. After deducing the manipulator’sdynamic equation, the calculation results of driving torque is demonstrated.Then, a symmetric combined sine function trajectory planning is proposed; this method hassmooth accelerating curve and continuous jerk curve by designing a curve adjust parameter; Aasymmetry combined sine function trajectory planning method is designed to solve residualvibration caused by fast moving joints. Both of the two methods are proved to have the ability ofquadratic programming.In the end, based on the studying deeply the theory of adaptive iterative learning control, amodified AILC method is presented after applying an uncertain parameters compensator andsaturation function as to reduce the chattering problem of input torque. Then, the control systemis set up with the Matlab/Simulink platform, and the trajectory curve using asymmetry combinedsine function performs as reference input. The effectiveness of the control algorithm isdemonstrated by simulation results.