2023 Vol.6 Aug.N04

• Title: Rope-driven humanoid robot arm trajectory control method based on particle swarm algorithm
• Name: Shihua Xiao,Xinyi Chen,Qian Tu
• Company: Jingdezhen Vocational University of Art,Jingdezhen 333000,China
• Abstract:

  The current conventional robotic arm trajectory control method mainly realizes trajectory control by constructing a robotic arm dynamics model, which leads to poor control accuracy due to ignoring the non-linear characteristics of the control algorithm. In this regard, a particle swarm algorithm-based trajectory control method for rope-driven humanoid robotic arm is proposed. The joint parameters and linkage coordinate system of the robotic arm system are established, and the non-linear trajectory equations of motion are constructed by finding the robotic arm coordinate variation matrix through the D-H parameter method. The robotic arm sensor parameters are optimally configured and combined with the algorithm to search for the optimal control trajectory. In the experiments, the proposed method is verified for the performance of the robotic arm motion trajectory control. The experimental results show that the trajectory tracking error value is small when the proposed algorithm is used to control the trajectory of the humanoid robot arm, which has a more ideal control accuracy.

  
  

• Keyword: particle swarm algorithm; humanoid robotic arm; trajectory control; adaptive dynamic programming.
• DOI: 10.12250/jpciams2023090612
• Citation form: Shihua Xiao.Rope-driven humanoid robot arm trajectory control method based on particle swarm algorithm [J]. Computer Informatization and Mechanical System,2023,Vol.6,pp.54-59

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