Research on the position and attitude control method of the spatial arc for a five-axis hybrid tapping robot

Abstract

Automatic rubber harvesting can not only reduce the cost of latex production, but also stabilize the output and improve the production efficiency. In order to lay the foundation for the movement of the robot around the tapping trajectory and meet the performance requirements of the robot in the tapping operation, this paper studies the position and attitude interpolation algorithm of the spatial arc for a five-degree-of-freedom hybrid tapping robot to realize the synchronous motion of the spatial arc pose control. In the verification test, the tip of the pen installed at the end of the robot draws a coherent clear arc in the space. The end vector is perpendicular to the normal vector of the arc trajectory and keeps pointing to the center of the trajectory at the same time, which verifies the correctness of the position and attitude control method.