| Issue |
E3S Web Conf.
Volume 260, 2021
2021 International Conference on Advanced Energy, Power and Electrical Engineering (AEPEE2021)
|
|
|---|---|---|
| Article Number | 03009 | |
| Number of page(s) | 5 | |
| Section | Electrical Engineering and Automation | |
| DOI | https://doi.org/10.1051/e3sconf/202126003009 | |
| Published online | 19 May 2021 | |
Robot arm trajectory planning study for a table tennis robot
1 College of electrical engineering, Southwest Minzu University Chengdu, Sichuan, China
2 College of electronic information, Southwest Minzu University Chengdu, Sichuan, China
* Corresponding author: 342547288@qq.com
The 4 degree of freedom robot arm of a table tennis robot has a variety of trajectories. In order to improve the response and the success rate of the shots, we used the joint space trajectory planning method to establish a kinematic model with the robot arm joints as variables, and by combining it with the robot arm kinematics, we obtained the relevant parameters for each joint of the robot arm. Simulation tests and physical tests were carried out to obtain a more accurate trajectory of the robot arm.
Key words: 4 degrees of freedom robotic arm / Path planning / Joint parameters / Robotic arm simulation
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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