Research On Parameter Identification And Path Planning Of Manipulator Based On SDH Model

Robotic arms,as highly adaptable and flexible automation devices,are increasingly used in industrial productions,agricultural harvesting,medical surgery,rescue operations,and other fields.In turn,the accuracy of robotic arms can be affected by various factors,such as manufacturing and assembly defects,joint gaps and lags,joint encoder errors,and environmental changes,which increasingly limits the ability of robotic arms to perform detailed tasks as the motion mechanism becomes more complex.On the other hand,the robotic arms have become lighter due to their advantages such as the factor of high load,flexible manipulation and low power consumption,but the lightweight structure increases the flexibility of joints and shoulder hoops,and the presence of defects bring new challenges to improve the accuracy of robotic arm motion.To address the above problems,this paper takes the 6-degree-of-freedom space robotic arm as the research object and establishes the kinematic model of the robotic arm using the SDH method.In order to solve the difficult problem of sudden changes in kinematic parameters when small errors occur in two adjacent parallel joints of the robotic arm,the idea of differential motion is introduced to correct and transform the kinematic parameter error model,and according to the corrected and transformed kinematic model,the 6-degree-offreedom space robotic arm is constructed based on the modified and transformed kinematic model,the kinematic parameter error model of the 6-degree-of-freedom spatial robotic arm is constructed.After the verification of simulation and real experiments,it is proved that the method of this paper can not only ensure the calibration accuracy to a high level,but also has a significant improvement in the execution time of the algorithm.After solving the motion error problem of the robotic arm,it paves the way for the next robotic arm motion planning work,because the path planning problem has high requirements on the accuracy of the robotic arm,after a lot of study and research on the robotic arm obstacle avoidance algorithm.,after extensive studies and researchs on the robotic arm obstacle avoidance algorithm,the paper proposes the Improved RRT obstacle avoidance planning method based on the adaptive dynamic step algorithm,which guides the robotic arm to approach the target point through the adaptive dynamic step mechanism,so that the Improved RRT selects a better expansion point and expansion direction;with the help of the escape mechanism,the robotic arm gets rid of the local minimum;using genetic algorithm to generate the path of minimum cost.After comparing with RRT-Connect and RRT-Extend path planning algorithms in two and three dimensions,it is proved that the path planning method proposed in this paper has significantly been improved in terms of execution time,path rationality,etc.The proposed path planning method has been compared with RRT-Connect and RRT-Extend in 2D and 3D space.Finally,the feasibility of the method is again verified by using a real robot arm as the carrier.