Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm

Abstract

With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer interaction of robotic arms are the focus of the research in the field of robotic arms. Based on the above background, the research content of this paper is the research on the modeling method of autonomous robotic manipulator based on D-H algorithm. This paper uses D-H modeling method to model a four-degree-of-freedom robotic arm and gives the forward kinematics equation of the robotic arm. The inverse solution of the manipulator was given by the method and the geometric method, and the joint variable values were calculated. Finally, through experimental simulation, the experimental results show that the inverse solution of the end position of the machine by the geometric method is in the range of 2∼4 mm, and the inverse solution of the end position of the machine by the algebraic method is in the range of 6∼14 mm. It is more accurate to find the inverse solution of the geometrical method of the manipulator than the algebraic method.

Current trend in control of artificial intelligence for health robotic manipulator

“…The optimal control in this study is the handling of objects or workpieces in certain positions, where the robotic manipulator can determine the angle with a small error to reach the pre-determined target [40]. Optimization of the robot trajectory is required to ensure a good quality product and to save energy, and this optimization can be provided by proper modeling and design [8], [41], [42]. The result of mathematical modeling and nonlinear control of the manipulator is that the DH parameter is used to derive the kinematics of the model, while the dynamics is based on the Euler-Lagrange equation.…”

“…Manipulator is an important chapter from robotic design and robotic manipulator research. Within designing and researching robotic manipulator, control system design is oftentimes inseparable from the overall dynamic performance, especially for controlling the joints of robotic arm, which has been one of the core contents of robotic research [8]. Autonomous robots can substitute humans to complete some jobs, thereby relieve humans from job to carry out other activities.…”

A∗WRBAS: Space Mobile Robotics Control Conceptual Model Using IoRT Reinforcement Learning and Tracking with Noise Estimation Using EKF

“…ey have also raised several significant ethical problems that must be adequately resolved if humans and robots are to live together peacefully. IoRT development may also be hindered by the existing lack of regulation; thus, this issue has to be solved with the help of the entire community [2]. Numerous socioeconomic facets of human society have seen a significant transformation in the last few decades due to robotic technologies.…”

“…A big technical promise is the ability to provide low-cost internet access for robotic systems. e cloud can be used by robots to delegate labor-intensive jobs and enhance overall performance [1,2].…”

“…is means that by putting this concept into practice, one may imitate and create sophisticated, accurate robotic activities that are managed by reinforcement learning and the Internet of Robotic ings. Due to its surprising results in a range of domains, such as its capacity to outperform human experts in games [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19], reinforcement learning (RL) has recently attracted a lot of attention. RL offers a framework and a collection of tools for teaching the dexterous handling of robots from scratch, beginning with raw pixels [10].…”