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Research on joint motion control for multi-degree-of-freedom manipulator
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Meiqiang LI1, Qinglu MA1, Hao YAN1, Tengwei YU2
Journal of Mechanical Strength | 2025, 47(2) : 147 - 158
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Journal of Mechanical Strength | 2025, 47(2): 147-158
• Optimization∙Reliability •
Research on joint motion control for multi-degree-of-freedom manipulator
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Meiqiang LI1, Qinglu MA1, Hao YAN1, Tengwei YU2
Affiliations
  • 1.School of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China
  • 2.School of Mechantronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China
Published: 2025-02-15 doi: 10.16579/j.issn.1001.9669.2025.02.018
Outline
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The structure of the manipulator has the characteristics of high nonlinearity and strong coupling, and high-precision motion control is a hot topic of concern for scholars.The AR4 manipulator was used as the research object to systematically analyze the forward and inverse kinematics that greatly impact the control of the manipulator, determining the manipulator’s corresponding structural parameters.And the D-H method was used to solve the numerical calculation model of the manipulator forward and inverse kinematics.The cubic spline interpolation algorithm was used to optimize the manipulator's jitter phenomenon in the joint space.In Cartesian space planning, the linear interpolation method was used to reduce the end effector’s motion distance.The specific planning points were obtained by Matlab simulation, meeting the design requirements.Finally, the SolidWorks was used to establish a three-dimensional model of the manipulator and generate an unified robot description formatc (URDF) model.The actual trajectory of the manipulator in joint and Cartesian space was planned according to MoveIt, and through RViz, the movement process was displayed.The results show that after adding the cubic spline interpolation algorithm, the joint motors of the manipulator can maintain stable operation, and the joint trajectory curvature is respectively reduced by 15.4%, 35.6%, 21.3%, 26.8%, 18.98% and 45.7%, which effectively solves the jitter vibration problem during joint movement and achieves smooth motion of the manipulator.

Six-degree-of-freedom manipulator  /  Forward and inverse kinematics  /  Cubic spline interpolation  /  Motion control
Meiqiang LI, Qinglu MA, Hao YAN, Tengwei YU. Research on joint motion control for multi-degree-of-freedom manipulator[J]. Journal of Mechanical Strength, 2025 , 47 (2) : 147 -158 . DOI: 10.16579/j.issn.1001.9669.2025.02.018
Funding
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  • Open Project of Chongqing Engineering Laboratory for Traffic Engineering Application Robot in 2022(CELTEAR-KFKT-202301)
  • National Natural Science Foundation Project(52072054)
  • Special Key Project of Chongqing Technological Innovation and Application Development(cstc2021jscx-cylh0026)
Appendix
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Year 2025 volume 47 Issue 2
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84
39
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Article Info
doi: 10.16579/j.issn.1001.9669.2025.02.018
  • Receive Date：2023-07-02
  • Online Date：2026-03-18
  • Published：2025-02-15
Article Data
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History
  • Received：2023-07-02
  • Revised：2023-09-14
Funding
Open Project of Chongqing Engineering Laboratory for Traffic Engineering Application Robot in 2022(CELTEAR-KFKT-202301)
National Natural Science Foundation Project(52072054)
Special Key Project of Chongqing Technological Innovation and Application Development(cstc2021jscx-cylh0026)
Affiliations
    1.School of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China
    2.School of Mechantronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China

Corresponding:

MA Qinglu, E-mail：
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Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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