Design of dynamic gripping control system for robotic arm based on the NJ motion controller

Abstract

Due to the increasing improvement of people’s material living conditions, the requirements and needs for mechanical products are rising, thus indirectly promoting the development of mechanical devices. The study aims to provide an in-depth discussion on the power capture of NJ-type robots, the working principle, and arithmetic methods of NJ-type controllers, and to conduct simulation tests of NJ-type robots. The experiments showed that 99.775% of the test data were distributed between 30 ms and 50 ms, and the actual rotational speed was only about 250 ms. The missed and wrong capture rates were 3.58% and 0%, respectively, which indicated that the actual rotational speed was almost the same as the specified one. The results show that the manipulator designed with the NJ-based motion controller achieves a high level of accuracy and stability, and can achieve accurate grasping, which provides convenient conditions for people to perform self-service table tennis entertainment in their daily lives.