Key technologies of robotic arm motion control based on compound control and improved SCSO

Area of Science:

• Robotics
• Control Engineering
• Artificial Intelligence

Background:

• Industrial automation demands intelligent and flexible robotic arms for precision tasks.
• Existing robotic arm control methods face challenges in achieving high-precision motion control.
• Robotic arms are integral to precision manufacturing, intelligent assembly, and medical surgery.

Purpose of the Study:

• To propose an advanced robotic arm motion control technology.
• To enhance precision and flexibility in robotic arm movements.
• To address the high-precision motion control demands in industrial automation.

Main Methods:

• Integration of composite control (visual guidance and BP-PID) with an improved sandcat swarm optimization algorithm.
• Enhancement of the optimization algorithm using Iterative chaotic iterative mapping and a sparrow warning mechanism.
• Experimental validation of the proposed motion control technology on robotic arm joints.

Main Results:

• Experimental results demonstrate accurate matching of kinematic and dynamic characteristics for robotic arm joints.
• The proposed technology ensures precise joint motion trajectories.
• Effective suppression of shocks and vibrations during robotic arm movements was achieved.

Conclusions:

• The developed robotic arm motion control technology offers significant theoretical and practical value.
• This research provides novel approaches for enhancing robotic arm performance in industrial applications.
• The findings contribute to the advancement of intelligent and flexible industrial automation.