Research On The Trajectory Tracking Control Of Manipulator Via A Variable Universe Fuzzy Control Method

With the development of science and technology,robot technology is widely used in daily life,industrial production and space exploration.As the most widely used robot,the manipulator has become an indispensable mainstream equipment in the industrial automation production line,and the trajectory tracking control of the manipulator has become one of the research hotspots.The trajectory tracking control of manipulator is realized by applying the control torque to the joint of the manipulator,which makes the joint angle of the manipulator in the process of motion consistent with the desired joint angle set by the user beforehand,and finally realizing the specified operation process smoothly fulfilled by manipulator.In this paper,the trajectory tracking control of the manipulator is studied.There are some problems in the trajectory tracking control of the manipulator,such as inaccurate tracking,complex design,slow execution and so on.The idea of variable universe is introduced to propose a variable universe fuzzy control method for trajectory tracking of manipulator by making full use of the advantages of fuzzy control method,such as simple design,convenient integration of control experience and no dependence on precise mathematical model of controlled object.The main research points are as follows:Firstly,the kinematics and dynamics model of the typical three joints manipulator is established,and the motion simulation model of three joints manipulator is given.Secondly,an off-line trajectory planning algorithm based on phase plane is designed.Through this algorithm,the desired joint trajectory of each joint of the manipulator is obtained,which can be used as the desired joint trajectory in the trajectory tracking control simulation of the manipulator.Thirdly,the fuzzy control scheme for trajectory tracking of three joints manipulator is designed and simulated in MATLAB/Simulink.The simulation results are analyzed,and the control accuracy of the fuzzy control method is given.Finally,in order to improve the control accuracy of fuzzy control method for manipulator,a variable universe fuzzy control method for trajectory tracking of manipulator is designed.The simulation results show that the control accuracy of trajectory tracking is improved.