Joint Six Degrees Of Freedom Manipulator Kinematics And Dynamics Analysis And Uncertain Rigid Robot Robust Trajectory Tracking Control

With the rapid development of science and technology,robots have been widely used in product automation,ocean,military and social practice,and the demand for robotic technology has been increased.To better develop robotic technology,people increasingly look for better theoretical systems.Because of strictness of mathematical method,for the robotic technology and its development in future,it is easy to improve robotic development and innovation if we study robot from mathematical field.we strictly deduce and theorily analyze the forward ,inverse kinematics and dynamics equation of robot arms with three joints and six degree of freedom in this thesis based on the Lie groups and Lie algebra as well as differential geometry ideas,and the following two results are gotten:(1). We deduce the forward kinematics and dynamics equation of this arms in use of mathematical tools such as exponential map,screw,twist and wrench and combining the ineratia matrix and coefficients of coriolis and centrifugal computed by Matlab,then we generalize it to a robot system with n-degree-of-freedom.From the depriving process,we can see that the kinematics and dynamics equation of this arm is heavy complex,the computed quantity is much large.From the system states equation,we can see that the dynamical model of this arm has the features of time-varying,strong coupling and high nonlinear.In the end.we discuss the robot uncertainties.These are the theoretical base of the following control study.(2). We deduce and analyze the inverse numerical solution of this robot arm by using product of exponentials formula,subquestion and give sixteen configuration which correspond to a this arm end effector. We discuss this arm from the idiographic expression of elbow joint,solve technique and which features this arm will be after it add one degree-of-freedom.These are easy to industry control and more discuss the motion of robot hands.Based on above talking,this thesis primarily study robust trajectory tracking control of rigid robot with uncertainties.lt is very important to study the robust trajectory tracking control of robot with uncertainties and one of the popular subject concerning the robot.According to n-degree-of-freedom rigid-links uncertain robot,based on the regressor approach,we get the following two results:(1). A new robust adaptive scheme which are used for tracking of this robot with parametric and bounded external uncertainties is proposed in this thesis.The controller is consist of a controller which is proposed by Slotine1'1 and nonlinear continued feedback compensation part.By estimating the unknown physical parameters of robot on-line,it can eliminate the effects result by parameters and external disturbances and guarantee gas and uniform boundedness of parametric estimation.The only information required in setting up the strategy is the output states ofjionts,while the inversion of the inertia matrix or estimation the bound of the inertia matrix and measure the jionts accelerations are not needed.It is shown by simulations that the proposed control scheme has quicker convergence velocity and better control precision than paper[1] and control schemes at present.(2). Similar to Mark W. Spong[2] 's control structure,we propose a new control strategy for above model with only parametric uncertainty.The proposed scheme consists of two parts. The first part is the nonlinear compensating standard controller. The second part is a robust compensating controller based on Lyapnuov theory which has simple structure and is used for eliminate the effect caused by parametric uncertainty.Exact knowledge for robot dynamics is not needed except that the bound of parametric uncertainty must be known. Three kinds of stability results (i.e. global uniform ultimate boundedness stability, global asymptotic stability and global exponential stability) can be guaranteed ultimately based on desiger's choice.The proposed scheme overcomes the drawbacks that paper[2] only guarantee GUUB and there are many assumptions to robot uncert...