Precise motion control method of electric work robot manipulator

Aiming at the problem that the amount of joint trajectory calculation is large and affects the control performance in the motion control of manipulator, an accurate motion control method of electric work robot manipulator is proposed. The kinematics model of the electric work robot manipulator is established, and the relationship between the joint torque and the end force of the robot hand is obtained. In the kinematics model, the long-distance coarse precision displacement and positioning of the manipulator are completed, and the Canny operator is used to detect the edge of the operation target to achieve short-distance and high-precision displacement and positioning. In this paper, the trajectory of the control joints is optimized, the actual position and posture are continuously adjusted, and the ideal position and posture are tracked to complete precise motion control. The centroid trajectory tracking control of manipulator 2 from initial pose to insulator steel cap clamping pose during operation is selected for simulation experiments. The results show that compared with synovial control and backstepping control, the method in this paper not only has fast convergence speed, but also has high tracking accuracy and strong control performance.