Trajectory Planning And Tracking Control Of A Redundant Manipulator Of Seven Degrees Of Freedom

With the development of C hina's space technology, space industry has been growing vigorously, which has put forward a higher demand on space robot application. Since robot arm of seven-degree has great superiority in increasing the flexibility and improving dynamics performance, it meets the need of spatial manipulation, now it has become the hot and key point in the research of space robot. Especially, kinematics analysis, trajectory planning and tracking control strategy are the basis of the research on robot arm, which has great practical significance.In the premise of a fixed base, redundant robot arm of ground principle prototype was studied as a research objective. During the research, a systematic study of the kinematic and dynamical model, working space, trajectory optimization based on time and impact, tracking control method was carried out with the research method of combining theory research and experimental proof, aiming to provide an effective theoretical method for control of 7-DOF series-wound robot arm.The major researchs and works of this thesis are as follows:(1)Aiming at the 7-DOF robot arm researched on in this thesis, a solution method of inverse kinematics for 7-DOF was presented. Besides, dynamics equation constructed by the Lagrange equations of the second kind was simplified, laying the foundation for later studies.(2)Combining cubic and quintic non-uniform B-spline curve, the trajectory planning was implemented in both joint space and Cartesian space, besides, a simulation experiment was devised to verify the time-jerk trajectory optimization model based on self-adaptation genetic algorithm.(3)A fuzzy PID controller based on segmented gravity compensation method was designed. Also, ADMAS and Simulink combined simulatio n model was established to verify and analyze the effectiveness of the controller.(4)Based on existig experiment platform, experiments of circular hole insertion and extraction, solar panel fetching were conducted. As for the end effector and each joint, analysis of the data of planning and tracking error was implemented.