Research on Key Technology for the Motion Control of Line Heating Mechanical Arms

This paper presents a heating method based on planned complex trajectories of a line heating mechanical arm, and studies the complex trajectory planning for a mechanical arm. Starting from the inverse motion algorithm of the mechanical arm, the task priority control method is adopted to realize the tracking control of the complex trajectory at the end of the mechanical arm. In addition, according to the requirements of the actual working conditions, a smooth trajectory of the mechanical arm is planned, and the method is validated by a simulation system that combines the kinematics and dynamics of the mechanical arm. The simulation results show that the trajectory planning and control strategy used in this method can effectively guarantee the completion of the tasks in line heating.