Research on Robot Pose Control Technology Based on Kinematics Analysis Model

2017 3rd International Conference on Environmental Science and Material Application

生态环境科学;材料科学

Liu, Dalong^1 ; Xu, Lijuan^2

Department of Mechanical and Electrical and Information Engineering, Huali College Guangdong University of Technology, Guangzhou Zengcheng

511325, China^1

Huashang College Guangdong University of Finance and Economics, Depatment of Information Engineering, Guangzhou Zengcheng

511300, China^2

关键词: Attitude measurement;    Control technologies;    Motion planning methods;    Motion planning problems;    Positioning accuracy;    Reliability and safeties;    Three axis accelerometers;    Three-axis gyroscopes;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/108/5/052056/pdf
DOI  :  10.1088/1755-1315/108/5/052056

来源: IOP

【 摘 要 】

In order to improve the attitude stability of the robot, proposes an attitude control method of robot based on kinematics analysis model, solve the robot walking posture transformation, grasping and controlling the motion planning problem of robot kinematics. In Cartesian space analytical model, using three axis accelerometer, magnetometer and the three axis gyroscope for the combination of attitude measurement, the gyroscope data from Calman filter, using the four element method for robot attitude angle, according to the centroid of the moving parts of the robot corresponding to obtain stability inertia parameters, using random sampling RRT motion planning method, accurate operation to any position control of space robot, to ensure the end effector along a prescribed trajectory the implementation of attitude control. The accurate positioning of the experiment is taken using MT-R robot as the research object, the test robot. The simulation results show that the proposed method has better robustness, and higher positioning accuracy, and it improves the reliability and safety of robot operation.