Research On Target Grabbing Force Control Based On Multi-DOF Manipulator

Among the tasks of many robotic arms,not only is the robotic arm required to make ideal space movements,but it is also required that the robotic arm maintain a proper gripping force during the movement of the robotic arm,and the object being grasped is not necessarily a single,For regular objects,the robot arm needs to adapt to different weights and shapes of the grasped objects,and even needs to ensure the safety of vulnerable target objects in the grasping process.Aiming at the above problems,this paper designs and implements a sixdegree-of-freedom manipulator motion control method,and proposes a fuzzy incremental PID control algorithm based on the autonomously constructed manipulator's gripping force to improve the gripping of the manipulator in actual work Force stability control.In terms of the environment construction of the target grabbing system,it mainly consists of three major parts: a six-degree-of-freedom robotic arm,a small robotic system,and a depth camera.The depth camera collects the image of the target object and matches and queries the preset object information database.After comparison,the preset weight data of the target object is obtained,and then it is transmitted to the controller of the manipulator small system.The controller calculates the expected gripping force according to the obtained weight information of the target object,the sensor acquires the gripping force of the robotic arm on the target object in real time,and the closed-loop control adjusts the gripping force of the robotic arm in real time.The depth camera obtains the target position information,and obtains the coordinate information in the coordinate space of the robotic arm through coordinate transformation.The robotic arm plans the space motion trajectory and moves to a position suitable for grasping the target object,and finally controls the robot to grasp the target object safely and stably.In terms of motion control of the six-degree-of-freedom robotic arm,the ROS platform was first introduced and a URDF model was established for the six-degree-of-freedom robotic arm.Then,the movement control of the robotic arm was achieved through Move It! Under the ROS platform,which analyzed the Cartesian space.The basic principles of manipulator motion trajectory planning.Finally,the six-degree-of-freedom manipulator's autonomous obstacle avoidance movement in joint space and Cartesian space is realized through the Rviz visual operating platform and Python programming.In terms of gripping force control of the manipulator,it is first introduced and analyzed.The core content of the traditional incremental PID algorithm and fuzzy control theory,and the system transfer function identification of the autonomous building robot is carried out.Then based on the control ideas of the two,a fuzzy incremental PID based on the gripping force of the autonomous building robot is proposed.The control algorithm is finally implemented through MATLAB platform.Finally,the gripping force control experiment is designed in the experimental environment,and the content of the work and the deficiencies in the work are analyzed and summarized.New ideas and focuses of future research are prospected.