Author(s)

Hao Guo, Yao He, Jiao Wu

Corresponding Author

Hao Guo

ABSTRACT

The exhaustive method is used to solve the maximum value of the end of the mechanical arm when the terminal angle of the mechanical armis unchanged and the end of the manipulator moves in a fixed direction, so that people can judge whether the mechanical armcan reach the target object from the current position in advance. If it can be reached, the mechanical arm will be controlled to approach the target object. If it cannot be reached, the mechanical arm platform needs to be moved so that it can finally reach the target object. The simulation results show that the algorithm proposed in this paper can quickly and accurately calculate the maximum range that can be actually reached by the mechanical arm, and it has a good application value for embedded systems with limited computing power as well as systems with high real-time requirements.

KEYWORDS

Redundancy, Mechanical arm, Constraints, Minimum energy consumption