文献类型：期刊文献

英文题名：Trajectory Planning Control of Robotic Arm Based on MQTT and PID Algorithm

作者：Zhang, Mingda[1]; Qian, Zhiqin[1]; Peng, Chen[1]; Shi, Lijun[2]; Wang, Kunyu[1]; Liang, Huishan[1]

机构：[1] East China University of Science and Technology, Department of Mechanical Engineering, Shanghai, 200237, China; [2] Anting Hospital, Department of Rehabilitation, Shanghai, 201805, China

年份：2024

起止页码：439

外文期刊名：2024 IEEE 4th International Conference on Electronic Technology, Communication and Information, ICETCI 2024

收录：EI(收录号：20243216802936)

语种：英文

外文关键词：Computer control systems - Degrees of freedom (mechanics) - Efficiency - Proportional control systems - Robot programming - Robotic arms - Three term control systems - Trajectories - Two term control systems

摘要：The six-degree-of-freedom robotic arm is renowned for its high flexibility, excellent programmability, substantial load capacity, exceptional precision, and broad range of applications. It represents a crucial research avenue in the analysis and study of robotic arms. The objective of this paper is to investigate the trajectory analysis and control mechanisms for a six-degree-of-freedom robotic arm. To establish the correlation between the end position of the robotic arm and each joint angle, we conduct kinematic analysis and simulate trajectory planning. Additionally, we construct a wireless communication platform based on the MQTT protocol. This platform eliminates the need for extensive wiring between the host computer and the robotic arm's control system, thereby enhancing control efficiency. For precise positioning at the robotic arm's end, we employ the PID (Proportional-Integral-Derivative) algorithm. Finally, we create an experimental platform featuring a six-degree-of-freedom robotic arm to execute trajectory planning and physical grasping experiments. Our results demonstrate that the MQTT-based wireless communication platform significantly improves control efficiency, while the PID algorithm ensures more accurate target positioning. ? 2024 IEEE.