The robotic arm refers to a high-precision, high-speed dispensing robot. The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Because of its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof fields. The robotic arm is a complex system with uncertainties such as parameter perturbation, external disturbance and unmodeled dynamics. Therefore, there is also uncertainty in the modeling model of the manipulator. For different tasks, it is necessary to plan the motion trajectory of the manipulator joint space, so as to cascade to form the end pose.

Due to its unique operational flexibility, robotic arms have been widely used in industrial assembly, safety and explosion-proof fields. At present, robotic arms are widely used in automobile manufacturing, metallurgical industry, heavy machinery manufacturing, palletizing logistics and other industries.