Research On Path Planning And Control Method Of Multi-joint Manipulator

With the gradual development of modern industry,more and more factories use robots to replace humans to complete certain tasks,so that not only can people be liberated from work,but more importantly,robots can improve work efficiency and work quality.There are many types of robots.Unmanned vehicles,drones,and manipulator all belong to robots.At present,the most commonly used in the industry is the multi-joint manipulator,so this paper will focus on the multi-joint manipulator as the main research object,focusing on two main aspects closely related to the manipulator:path planning and trajectory tracking control.This paper first introduces the research status of industrial robot trajectory tracking control strategy and various robot path planning algorithms at home and abroad.Subsequently,the kinematics and dynamics of the six-degree-of-freedom robot were analyzed.The kinematics of the robot described the relationship between its spatial position and the joint angle of each link,while the dynamics of the robot described the application of the joints on each joint.The corresponding relationship between the driving torque and the joint rotation angle.Through a comprehensive analysis of robot kinematics and dynamics,it laid the foundation for the research of the following two chapters.Next,the RRT algorithm and its various derivative algorithms in robot path planning are introduced in detail.The main problems at the current stage are analyzed,and two improvements are given for these problems,which are 100%target offsets.Probability and a new node regression mechanism.By conducting multiple sets of comparative experiments on the improved algorithm and the original algorithm,the experimental data is analyzed to prove the effectiveness of the proposed improvement measures.Subsequently,the trajectory tracking control of the robot was discussed in detail,and a control strategy combining robust adaptive PD control with an expanded state observer was proposed.By introducing an expanded state observer in the control system,the anti-interference performance of the entire control system is improved.Through multiple sets of comparative experiments to illustrate the necessity of introducing an expanded state observer in the control algorithm to enhance the anti-jamming performance of the system.