Title: Simulation of grasping attitude control of robotic arm based on synovial error feedback

Authors: Zhimin Lv

Addresses: Department of Mechanical and Electrical and Automotive Engineering, Puyang Vocational and Technical College, Puyang 457000, China

Abstract: In order to improve the attitude stabilisation of robotic arms during grasping, a method of grasping attitude control of the robotic arm based on synovial error feedback is proposed. Based on it, the attitude parameter information of the robotic arm is measured and fused by using multi-sensor fusion information acquisition method to construct a constraint parameter model and control objective function for grasping attitude control of the robotic arm. The experimental results show that the proposed method has high control precision in the attitude control of the robot arm, and can accurately track the position information of the object to be captured in real time, realise zero error capture, and the parameter tracking performance is good, which improves the grip on the robot arm. Taking the control quality of the attitude, the overall has an application advantage.

Keywords: synovial membrane; error feedback regulation; robotic arm; grasping; attitude positioning; steady state error.

DOI: 10.1504/IJISE.2020.109124

International Journal of Industrial and Systems Engineering, 2020 Vol.36 No.1, pp.110 - 124

Received: 16 Jan 2019
Accepted: 27 Mar 2019

Published online: 14 Aug 2020 *

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