Research On Control Method Of Robot Arm Trajectory Tracking Based On Robust Control

With the development of industrial automation technology manufacturing process continues to improve,the quality of industrial robots designed by the old technical solutions is becoming increasingly difficult to meet the needs of modern industrial manufacturing.Robot arm has a very strong non-linear characteristics,simple motion control algorithm has been difficult to meet the requirements to further improve performance.It is very necessary and important to design a control scheme for trajectory tracking of a nonlinear system that can be used to deal with such highly uncertain robotic arms.In this thesis,the characteristics of the robot arm and the characteristics of the model are analyzed from the mathematical modeling.Then,the robust control method is analyzed most effectively,especially under the condition that the parameter model is uncertain and external disturbance exists.This thesis introduces a robust H? control method with variable gain linear variable parameters,and designs the arm trajectory tracking controller.The dynamic mathematical model of the robot arm is established by Lagrangian method,then the differential equation is transformed into the dynamic equation about the trajectory tracking error.Finally,the dynamic model is transformed into a linear variable parameter model with convex polyhedron structure,and the dynamic time-varying model is transformed into a steady H? model to solve it.According to the robust control theory and the linear matrix inequality theory and LPV technique,the feedback controller is designed at each vertex of the convex polyhedron,then the linear variable parameter controller is obtained by using the vertex controller.The control scheme designed by integrated robust control theory and linear matrix inequality theory and LPV technology is feasible for the robot trajectory tracking control.This method can deal with the nonlinear and uncertain characteristics of the robot well.