An Inverse Kinematics Solution Based on CA-CMAC and ILC for Trajectory Tracking of Redundant DOF Manipulator

2017 International Conference on Control Engineering and Artificial Intelligence

计算机科学

Liu, Hua-Qing^1 ; Wang, L.V.^1,2

Shanghai Institute of Satellite Engineering, Shanghai

200240, China^1

School of Aerospace, Tsinghua University, Beijing

100084, China^2

关键词: Composite control strategy;    High precision tracking;    Inverse kinematic problems;    Inverse kinematics solutions;    Inverse model control;    Three dimensional space;    Tracking precision;    Trajectory tracking;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/806/1/012018/pdf
DOI  :  10.1088/1742-6596/806/1/012018

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The composite control strategy of CA-CMAC and ILC is adopted to solve the inverse kinematic problem of the redundant DOF manipulator during its real-time and high-precision tracking on the three-dimensional space target trajectory. A direct inverse model control strategy is adopted, in which CA-CMAC takes the current joint angles and the desired position increment of the manipulator as the input, and estimates the expected joint angle increments of the manipulator using the system history control experience. Then the estimated joint angles are taken as the initial value of the ILC module by which the control effect is improved iteratively. Based on the MATLAB, the tracking controls of linear and circular space target trajectories were simulated respectively. The results show that CA-CAMC and ILC composite control has better tracking precision and stability than CMAC control, while keeping the joint angles of the manipulator continuous and smooth during trajectory tracking.