A Modified Control Method of Robot Path Curve Deviation Based on Terminal Trajectory Tracking

2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering

Zheng, Yongtao^1 ; Lu, Xinghua^2

Guangzhou Huali Science and Technology Vocational College, Guangzhou, China^1

Huali College Guangdong University of Technology, Guangdong Guangzhou, China^2

关键词: Co-ordinated control;    Deviation corrections;    Linear Interpolation;    Load transfer mechanism;    Multi degree-of-freedom;    Optimization method;    Position control loop;    Trajectory tracking;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/394/3/032018/pdf
DOI  :  10.1088/1757-899X/394/3/032018

来源: IOP

【 摘 要 】

The robot is affected by small disturbance in the path following motion, which can easily cause the path curve to deviate. A modified control method of robot path curve deviation based on terminal trajectory tracking is proposed. A path trajectory tracking grid model of robot is constructed in the hyperredundancy space, and the force control of the robot is analyzed by quantitative fusion. The adaptive admittance controller is used to correct the deviation of robot path curve, and the mechanical loading is carried out according to the robot and load transfer mechanism model, and the force closed loop is placed in the outer layer of the position control loop. The desired path trajectory is corrected by force feedback, and a linear interpolation optimization method is used to track the trajectory of robot path curve deviation, and the cubic spline curve is used to fit the control points. The robot path curve deviation correction control model is transformed into force following mode, and the robot path curve deviation correction is realized by using multi-degree-of-freedom coordinated control method. The simulation results show that, the proposed method has the advantages of high precision, good stability, good anti-disturbance ability, it can improve path optimization accuracy effectively.