Research on position and attitude control method of planar motion of 5-DOF hybrid robot

In the agriculture industry, scholars are increasingly paying attention to the advantages of hybrid robots and applying them in agricultural production. Agricultural products such as tree trunks or fruit stems is formed by growth. When the hybrid robot is working, It is easier to obtain the ideal end pose of the hybrid robot by describing the pose relationship of the robot end relative to the work object than the robot end relative to the world coordinate system. In order to realize the continuous motion control of the hybrid robot with a specified relative attitude relative to a certain plane in space, a method to realized planar motion based on 2SPU+U+RRR type five-degree-of-freedom hybrid robot position and attitude control is proposed. First, the trajectory of the task is discretized, according to the required posture, and the position and attitude matrix of each position on the trajectory is derived. Then through the inverse solution of the kinematic model, the five-degree-of-freedom hybrid robot is completely decoupled. The pose of the robot end is calculated to realize the plane motion control of the robot with a specified pose in Cartesian space according to the kinematic model of the hybrid robot based on the mechanism equivalent principle. Finally, the pose control method of the robot is tested. The experimental results show that the control method can realize the accurate planar motion control of the specified pose in Cartesian space during the repeated planar motion of the 2SPU+U+RRR type 5-DOF hybrid robot. This paper provides a five-degree-of-freedom hybrid robot theoretical model for the position and attitude synchronous motion control of arbitrary plane in Cartesian space.