The Research Of6-DOF Manipulator Trajectory Tracking Control Based On Iterative Learning

Manipulator control system is not only a multiple input multiple outputs and highly coupled nonlinear system, but also there are many uncertainty factors in fact, such as load change, random disturbance, measurement error, friction and unmodeled dynamics, etc.so we can not get completed and accurate mechanical arm system model. With the rapid development of modern industry, we need higher quality mechanical arm for servicesing, the work speed and accuracy of mechanical arm is requireed higher and higher. Uncertainty factors will be serious influence on control performance of mechanical arm.So further discusses about the uncertainty of mechanical arm control problem has important theoretical significance and practical value.This paper is based on Gugao technology6-DOF serial manipulator as the carrier.I was studied in depth of6-DOF serial manipulator real-time solution of the inverse kinematics, dynamics modeling and high precision trajectory tracking control problem through a combination of theoretical research and simulation experiment. We provide a set of effective theory and technology solutions for the development and application of mechanical arm.We are establish a mechanical arm connecting rod coordinate system and get the D-H parameters, and derived the formula of mechanical arm positive inverse kinematics. As the pose variables in task spacea and joint variables in joint space have a one-to-many relationship, so the key problem is solving the real-time and stability of the inverse kinematics algorithm. The quaternion algorithm was applied to the manipulator inverse kinematics, get a set of efficient algorithm to solved the inverse kinematics problem of general6-DOF serial manipulator, greatly reduced the solve difficult. We are in-depth understanding of mechanical arm kinematics control mechanism through the simulation of the positive and inverse kinematics of mechanical arm by MATLAB.We are using the Lagrange function method to derived the dynamics equation of6-DOF serial mechanical arm, and give the steps of modeling and conversion methods system. Set up dynamics equation of two degree of freedom mechanical arm, analyzes its inertia, the coriolis forces and torque characteristic, provide dynamic model for the studied and designed of joint controller and trajectory tracking controller.We are introduce technology of iterative learning control aim at the repeat task of industrial mechanical arm,and to adapt to the recurring dynamic characteristics when the industrial mechanical arm do repeat job tasks, including inertia coupling, moment coupling, friction, noise interference, etc. We are proposed a new type of d-type iterative learning control algorithm on the basis of traditional d-type iterative learning control, the new algorithm added to convergence factor and output error in study law, so as to improve the convergence speed and the accuracy of trajectory tracking. Using MATLAB to do simulation experimentnew to the iterative learning control algorithm in the application of the mechanical arm, verify the validity of the algorithm.