Multi-DOF Manipulator Trajectory Tracking Based On Active Disturbance Rejection Controller

In recent years, more and more companies and scholars devoted to the research of the robotics fields because of the great development of robotics technology, and they have achieved many results. As the core technology of the robot, the robot control technology has become more and more important. Thus, the study of robot control technology has meaning to our actual production and life have a very positive meaning.Multi-DOF manipulator which is a class of complex objects has always been a hot issue in control field. Compared with other conventional or advanced control methods, ADRC has many advantages. Such as it not depend on the specific dynamics model; it has a complete controller design principle; simple and facilitate the implementation of the project, and so on. In order to find a method.suitable for the actual manipulator control engineering based on ADRC technology. In this paper we introduced the ADRC technology as core algorithm of controller of Multi-DOF manipulator trajectory tracking. Through the theoretical analysis of manipulator kinematics and dynamics, built a virtual prototype of Kuka-KR30-3 that is six DOF manipulator. The work in this paper is summarized as follows:1. The research of kinematics and dynamics of multi-DOF manipulator. We start from the structure of multi-DOF manipulator. Taking the Kuka-KR30-3 joint mechanical arm as an example, build its model by using the D-H method, and analyzed the quantitative relationship between the manipulator joint angle and pose through using analytical method. And, established the dynamic equations of Multi-DOF manipulator by using Lagrangian function.2. The research of active disturbance rejection control technology and the realization of its core algorithm (TD&ESO). In this part, we start from the research of active disturbance rejection control theory and combined with the engineering design principles. Achieved active disturbance rejection controller of multi-DOF joint manipulator on Matlab.3. The simulation of the ADRC system. The whole simulation system was implemented by ADAMS simulation software and Matlab software. We build a 6DOF manipulator object which used KUKA KR30-3 robot as a template by ADAMS software. For judging the effect of controller of multi-DOF manipulator, a common PID control scheme and ADRC control scheme were both implemented by MATLAB software. The result of simulation shows that ADRC can achieve better control effect than PID controller in aspect of multi-DOF manipulator trajectory tracking.4. The research of robot trajectory planning. In this part, we introduced some basic robot trajectory planning method based on Matlab platform, and discussed the relationship between trajectory planning and tracking control.