Trajectory Tracking Hybrid Control Algorithm Research For The Manipulators

As an important branch of Robot subject, the Manipulator system has developed into the most widely equipment in industrial control field. The core of the Manipulators is Control system and two questions under more concerns of the manipulator motion control are Path planning problems and Trajectory tracking problems of double joints. The article mainly researches trajectory tracking control algorithm of double joints manipulators that is six degrees of freedom. Trajectory tracking is about the study of the parameters of the angular displacement, angular velocity and angular acceleration in the working process of Manipulator system, the main purpose is to make manipulator’s angular displacement, angular velocity and other state variables track the ideal trajectory by the driving torque of a given double joints, and ultimately achieve that the end hand of Manipulator system can accomplish the prospective operation procedure smoothly.Manipulators trajectory tracking control algorithm is commonly PID control algorithm, adaptive control algorithm and the neural network control algorithm, the robust adaptive control algorithm, sliding mode variable structure control algorithm, iterative learning control algorithm, fuzzy NN control algorithm, and the advantages and disadvantages of the various algorithms exist in the application. The choices of various methods need to take into account the structure parameters and the influence of the parametric uncertainties and non-parametric uncertainties of Manipulator system itself; the dynamic performances of the Manipulator system is difficult to be expressed by using precise mathematical model, brought a lot of challenges in the application of control methods of the Manipulator system.Aiming at the typical problems of the actual accurate model of Manipulator system and the advantages and disadvantages of the typical control methods and modern control methods, the paper uses hybrid control algorithms to make the trajectory tracking control of the angular displacement, angular velocity and other parameters with high precision for Manipulator system. Three kinds of hybrid control algorithm are researched and applied in the paper. The first is the hybrid advanced control algorithm of the fuzzy gain system and sliding mode control combined to eliminate the interference, friction and uncertainties of the system, overcomes the shaking problems of the sliding mode control of the manipulators, and realizes trajectory tracking control of high precision of the manipulators. The second is the hybrid advanced control algorithm of the fuzzy NN and robust adaptive control combined to realize the trajectory tracking control of the parameters, when the system is respectively only by the influence of friction, only to outside interference and only by the impact of the uncertain part of the entire system, obtains accurate angular displacement tracking curve of the manipulators. The third is the hybrid advanced control algorithm of the RBF neural network and adaptive control combined, introduces a new concept about the observer, achieves linear observer to estimate the angular velocity of the system and using RBF as compensation controller to approximate the uncertain part of the manipulator model, realizes high-precision trajectory tracking control of the manipulator system.Through the simulation modeling and motion analysis of Manipulators, according to ensure the stability of the system premise, the paper obtaines the high precision trajectory tracking control of the manipulators about angular displacement, angular velocity and other parameters of double joints under various hybrid control algorithm application and finally completes accurate control and positioning of the manipulator ending.