Research And Realization Of MFAC Based Trajectory Tracking Control For Multi-joint Series Industrial Manipulator

The manipulator has been widely used in various industries to replace or help labor to complete the simple and repetitive work,because of its merits such as flexibility,accuracy,high speed and high repeatability.It is widely used in moderm manufacturing industry such as automobile,electronic,Information products and so on.Multi-joint manipulator is not only a nonlinear and uncertain system but also a strongly coupled multivariable Complex Control System which is closely related to kinematics and dynamics High-precision control of multi-joint manipulator has been a hot topic in theory and application.Model-free adaptive control(MFAC)is an important data-driven control method,whose controller design utilizes the input and output data of the system instead of the model of the object.This method is suitable for the complex controlled object such as multi-joint manipulator.Therefore,it has important practical significance to apply Model-free adaptive control to trajectory tracking of 6-DOF series industrial manipulators.6-DOF series manipulator is used as the controlled object in this paper.How to establish kinematic model,solve inverse kinematics,establish dynamics model and the control of high precision trajectory tracking of the serial manipulator are systematically studied by the way of theoretical research,simulation experiment and physical verification.This paper explores an effective theoretical and technical solution for the development and application of serial manipulator.The main contents are as follows:First,the link coordinate system and corresponding parameters of the manipulator were established.The problem of real-time and stability of the algorithm of inverse kinematics is researched based on the calculation formula of forward and inverse kinematics of the manipulator.The control mechanism of kinematics of the manipulator is studied deeply through the way of analysis and simulation.The paper establishes the dynamics equation of the manipulator and analyzes characteristics of the dynamics through the way of establishing function of Varangian.Second,model-free adaptive control method is used in the trajectory tracking task of industrial robots whose requirements of accuracy is high.And the MFAC control algorithm based on the prototype MFAC control algorithm is proposed to improve the convergence speed and trajectory tracking accuracy.The Simulink simulation module based on MATLAB is built to verify the effectiveness of the algorithm.Finally,the improved MFAC control algorithm is applied to the trajectory tracking control of the 6-DOF series manipulator through programming with the language of ST on the development platform of Otostudio based on the analysis of functional requirements and non-functional requirements of physical verification of the trajectory tracking control of the 6-DOF series manipulator with MFAC.The function of the system includes human computer interaction,trajectory planning,control System,telecommunication,data collection and so on.At the same time the data subsystem of analysis is compiled with Matlab platform.It is verified that the improved MFAC control algorithm has good effect on trajectory tracking control of the manipulator through analyzing the real-time data collected by this of the subsystem of manipulator.