Research On Control Technology Of Multiple Degree Of Freedom Manipulator

With the Chinese made 2025 of the planning implementation and the rise of manufacturing,industrial robots and machines are used more and more popular on the arm,the robotic arm control technology has attracted more and more attention.A path tracking control algorithm and trajectory planning method is one of the key technologies to control the mechanical arm of the mechanical arm.This paper is a mathematical method to build the kinematics model of multiple DOF Manipulator,kinematics analysis,inverse problem,mainly analyzes the kinematics inverse problem;inverse problem of mechanical arm dynamics,this paper contains,from several dynamic mathematical modeling and optimal control.Aspects of the problem were briefly describedFind the predicting and path point collision path planning in settings with mechanical arm controller.At the end of the working space of non singular path planning is planning an effective mechanical arm to avoid obstacles in the path of a given task,this paper proposes an improved algorithm,combined with the Newton iterative method and joint coordinate planning method and effective with this algorithm,the improved algorithm can make the mechanical arm(including singularity case)planning reasonable path,which can work in space domain by singular area smoothly while carrying out their tasks,without causing dislocation,the sudden shift and abnormal situation improved algorithm can be very good solution.The problem of singularity in path planningIn the tracking trajectory based on fuzzy neural network algorithm to realize trajectory tracking,the algorithm combined fuzzy control powerful reasoning ability and neural network control parameters self-learning ability,it does not need to know the precise mathematical model of controlled object can directly use the algorithm of network parameters and self-learning correct,so this paper use control in joint torque multiple DOF mechanical arm of the fuzzy neural network algorithm,through the algorithm of network parameters self-learning to adjust the control of mechanical arm joint torque,thus realizing the robot trajectory tracking control.Finally,through the simulation analysis,the fuzzy neural network control algorithm can be used to solve the trajectory tracking problem effectively,which makes the whole control system has strong adaptability and stability...