Basic pose control algorithm of 5-DOF hybrid robotic arm suitable for table tennis robot

The development and the composition of table tennis robot are introduced. Based on the moving characteristic of table tennis, a sort of 3-RPUR+RP 5-DOF hybrid robotic arm is put forward, which can perform three translational DOFS and two rotational DOFS. By using D-H parameter method and XYZ Euler angle, the kinematic inverse solution of the hybrid robotic arm is analyzed and the pose of the racket is described conveniently. The pose control equation is deduced, which can transform the racket pose in working space into the parameters of the driving axis in joint space. By using ADAMS software, the motion simulation is performed so as to prove the theoretical analysis effectively. The basic algorithm lays the theoretical foundation for the successful 5-axis simultaneous control of the table tennis robot.