Moving Trajectory Tracking Method of Multi Degree of Freedom Manipulator Based on Particle Filter Algorithm.

In this study, a moving track tracking method of multi degree of freedom manipulator based on particle filter algorithm is proposed. By constructing the transformation matrix and the Jacobian matrix, the kinematics of the multi degree of freedom manipulator is analyzed. According to the three coordinates of the end of the multi degree of freedom manipulator, the forward kinematics model is solved and the inverse kinematics model is obtained. Particle filter algorithm is adopted to track the moving trajectory of multi degree of freedom manipulator, and the trajectory tracking error is corrected. Experiments show that this method has the advantages of small difference between the trajectory of the multi degree of freedom manipulator and the actual target trajectory, such as high trajectory tracking accuracy and short tracking time, and can meet the requirements of people for the trajectory control accuracy of the joint manipulator. It is expected that this paper can provide valuable references and help for the application field of robots as well as the actual life and production activities. [ABSTRACT FROM AUTHOR]