Research on Motion Control of Coal Sampling Arm Based on MATLAB

JUN WANG, WEN-YU HUANG, HAI-BO XU, XING FAN, YU-FENG LIN

Abstract


Aiming at the impact of the sampling head during the sampling of the coal sampling arm, the position-based impedance controller model is applied to the motion control of the sampling arm. According to the structure of the sampling arm, the virtual prototype model of the sampling arm is established, and the robotics model is established in the MATLAB software. The Monte Carlo method is used to map the reachable workspace point cloud of the sampling arm. Through the simulation experiment of the sampling arm upper arm joint, the influence of the impedance control model parameters on the compliance control of the sampling arm joint is analyzed, and the feasibility and effectiveness of the control model are verified.

Keywords


Coal sampling arm, D-H coordinate system, Impedance controllerText


DOI
10.12783/dtetr/ecae2018/27703

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