Research On Control Strategy Of Manipulator Based On Visual Information

With the increase of human material demand,people's demand for productivity has also increased greatly.At present,the robotic arm has become an important auxiliary tool in the production and processing process,so new requirements are put forward for the control strategy of the robotic arm.In production,since traditional manipulators can only perform tasks according to set procedures,and cannot fully realize the intelligence and collaboration of control,how to improve the operating efficiency of manipulators has become an urgent problem to be solved.Based on the six-degree-of-freedom manipulator,this paper first establishes the manipulator control system with the help of visual information,and then conducts research on the manipulator's kinematics modeling,trajectory planning and obstacle avoidance strategies.The main research work of the thesis is as follows:(1)Kinematics modeling of a six-degree-of-freedom manipulator.Using the Denavit-Hartenberg(DH)modeling method,taking the TKB1200 six-degree-of-freedom manipulator as an example,the manipulator was modeled and analyzed,and the kinematics model of the six-degree-of-freedom manipulator was established,and its positive kinematics was derived and solved.The equation and the inverse kinematics equation are verified by MATLAB to verify the accuracy of the equation.(2)Study on the trajectory planning method of the robot arm.Based on the polynomial interpolation method,Cartesian space trajectory planning method and other methods,the compound trajectory planning method of the six-degree-of-freedom manipulator is derived.This method is based on a polynomial function and uses interpolation to form a smooth and continuous motion curve that meets the specific task.The validity of the motion trajectory is verified in the MATLAB simulation platform and the real system through design experiments.(3)Study on the method of mechanical arm barrier avoidance planning.By improving the traditional artificial potential field method to make it suitable for the obstacle avoidance strategy of the space manipulator,introducing the dangerous field method,the velocity field field,and Simulate external force shock to improve the shortcomings of the traditional artificial potential field method in the space manipulator.Experiments are conducted in an indoor environment,the three-dimensional coordinates of the target and obstacle are obtained with the help of Kinect,and the manipulator is controlled to bypass the obstacle according to the obstacle avoidance strategy to complete the touch task,which verifies the effectiveness of the control strategy.