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Erschienen in:
20.01.2018
Research on Intelligent Control System of Manipulator Based on Multi Degree of Freedom
Erschienen in: Wireless Personal Communications | Ausgabe 4/2018
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Abstract
In order to improve the accuracy and flexibility of forestry robot mechanical arm, the mechanical arm mathematical model is constructed in this paper by Denavit–Hartenberg parameter method, and the inverse solution algorithm based on Newton iteration method is designed. On this basis, in the joint space, three times interpolation and five times interpolation algorithm are designed for path planning. Then, the hardware framework and software system of mechanical arm control system are designed, and the simulation experiment is carried out, to test the precision and error of mechanical arm. The results showed that the motor rotation error of the seven freedom mechanical arm control system is 0.025%, the position error of the mechanical arm is 5%, and the repetitive positioning error of the mechanical arm is less than 7 mm. Based on the above findings, it is concluded that the error of the end motion is within the allowable range, and the desired design requirements are completed.