Research On Trajectory Tracking Control Methods Of Robot

In recent years,with the continuous innovation and breakthroughs in the field of robot technology,not only has created enormous economic wealth for the society,but also promoted the process of highly automated industry,meanwhile,improved people's living standards.Automation of mechanical equipment and automatic production line are the inevitable trend of modern processing manufacturing industry.Industrial robot will liberate mankind from the monotonous manual labor in the future.With the rapid development of industrial robot industry,people have higher and higher requirements for high-speed and high-precision control of robots.Therefore,the research on advanced control algorithms of robots has become a hot research topic in the field of automation.In this thesis,a 2-DOF robot is taken as the research object.Through the in-depth study of robot motion control algorithm,three control strategies are proposed for different application scenarios of robot.The main contents are as follows:In order to improve the tracking control accuracy and robustness of robot a control method based on the fractional order controller is proposed for dynamic response of industrial robot.It is not only applicable to the integer order system,but also for the fractional order system,and the control effect is better than the traditional PID controller.In the case of high-speed movement,the nonlinear dynamic property of the robot is quite significant and exist the parameter perturbation and external interference uncertainly,for this reason,the dynamic model of the robot is established,and the driving torque equation and dynamic characteristics of the robot joint are obtained.Based on the fractional order control theory,the fractional order calculus operator is approximated by oustaloup filter,and the fractional order controller is realized by LabVIEW block diagram.The simulation of the control system shows the maneuverability and superiority of fractional order controller in the control process.Considering external parameter perturbation and disturbance in the control of mechanical arm,we propose a novel multi-input multi-output and uncertainties system control algorithm for manipulator systems based on a nonlinear disturbance observer,and in order to improve tracking control precision and robustness of robot we develop a double joint manipulator disturbance observer to estimate of external interference and correct for the estimated value.Stability of disturbance observer is proved by Lyapunov theory.The simulation results show the proposed approach has high precision and strong robustness in the presence of external disturbance and system uncertainty,the engineering effectiveness and feasibility of the method are illustrated by experiments.In order to improve the tracking accuracy of the robot and obtain the real-time speed information of the robot,considering the cost of the speed sensor,a finite-time stable output feedback control method is proposed.A nonlinear high-gain observer is used to estimate the speed information of the robot on-line,so as to realize the high precision tracking of the robot control.Finally,the effectiveness and effectiveness of the algorithm are illustrated by simulation.Finally,we apply the proposed control algorithms to control the self-developed two-degree-of-freedom robot.The experimental results verify the effectiveness of the proposed algorithm and show its potential engineering applications.