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In this paper, an online iterative learning planning method is proposed for industrial robot joint space manipulator to capture moving objects. The dynamic mathematical model of the robot is established, and the trajectory of the robot manipulator is tracked and adjusted through the path planning algorithm to change the visual impedance of the robot and optimize the system parameters. It makes the velocity direction of the end effector of the manipulator consistent with the tangent direction ofdoi:10.11648/j.cssp.20211001.12 fatcat:vyj6u7sblre27ihufez2nt2gy4