Research On Robot Capture The Thrown Objects Algorithms And End Sloshing

In recent years,the robotics industry is developing rapidly.Robots are widely used in production and life.In practical applications,robots often need to capture some thrown objects in real time,so the research of robot catching the thrown object has been a hot-spot.Aiming at the key problems such as unknown parabolic trajectory when robot catches thrown object,difficult to accurately capture thrown object when it is disturbed by wind speed,and sloshing research after successful catching,this paper carries out in-depth research on robot catching parabolic algorithm and its end sloshing.Before capturing the thrown object,the robot needs to control the robot's end position accurately.Based on the analysis of the kinematics of the six-degree-of-freedom robot,the DH model of the robot is constructed.The coordinate transformation relationship between the links of the robot is obtained,and then the attitude transformation relationship between the joints is established.The DH parameters of the robot are obtained and the DH parameters table of the robot is listed.Then the inverse kinematics of the robot is solved by using geometry methods.After determining the rotation angle of each joint,the robot end can reach the specified position through the position feedback system of the robot joint.On the basis of precise control of the end position of the robot,an Kalman Filter based algorithm for capturing the unknown thrown object of the trajectory of the robot is proposed in this paper.When a robot catches an unknown trajectory thrown object,it simulates the idea of catching a thrown object by a human.It first predicts the approximate catching point of the robot by predicting the trajectory of the thrown object,and ma groups of dynamic unknown trajectory thrown object.kes the robot move to that point in advance to wait.When the thrown object enters the workspace of the robot,an Kalman Filter based catching algorithm is proposed to make the robot work.Overcome disturbance to achieve accurate capture.The experimental results show that the robot can capture accurately with six differentIn practical application,the influence of natural wind is inevitable when doors and windows are opened in indoor environment.When the mass of the thrown objects is relatively light,the thrown objects will deviate from the free trajectory.In this paper,the thrown objects capture algorithm for robots in natural wind environment is proposed.Firstly,the state equation and measurement equation ofthe thrown objects motion in natural wind environment are established,the mean value of acceleration of natural wind is calculated,its statistical characteristics and probability distribution are analyzed,the relationship between acceleration and standard deviation is established,and then the variance is calculated.Kalman filter is used to update the control quantity and adjust the variance to obtain the precise position of the thrown objects.The simulation results show that the end of the robot can track the thrown objects trajectory accurately by using two groups of natural wind disturbances with different mean values.After the robot catches the thrown objects successfully,in order to ensure the safety and stability of the robot,the end sloshing of the robot is studied in this paper.When the robot catches the thrown objects,its state will change from motion to stationary,at which time the joints of the robot will no longer rotate.But because of the inertia of the robot system,the end of the robot will sway.In this paper,acceleration sensors are used to measure the acceleration of X,Y and Z axes at the end of the robot respectively.Acceleration data are quadratically integrated by trapezoidal numerical integration method,and then converted into displacement signals.The displacement data of the end sloshing of the robot are obtained,and the frequency spectrum analysis is carried out.It is shown that the displacement of the end of the robot in the X direction can be obtained when the motion speed of the robot decreases gradually.The displacement in Y and Z direction increases gradually with the decrease of displacement.Controlled to reach the designated position.On this basis,an Kalman Filter based on robot capture the thrown objects algorithm is proposed for the unknown trajectory of the robot.In view of the fact that the thrown objects deviates from its original trajectory in natural wind environment and the robot is difficult to capture accurately,a Kalman filter algorithm is proposed to update the mean of control and noise variance in real time.After the robot catches the parabola successfully,the displacement of its end sloshing is analyzed.Based on the above algorithm,a number of experiments have been carried out.The results show that the proposed algorithm can effectively improve the success rate of parabolic capture and further promote the development of intelligent robots.