Trajectory Planning And Control Simulation For 6 DOF Manipulator

With the continuous expansion of the field of manipulator applications,the requirements for manipulator are increasing,especially in manipulator trajectory planning and control system.Therefore,it is an important task to study the trajectory planning and control of high performance manipulator.In this paper,manipulator(PUMA560)is used as the research object.The main aspects of work include:(1)The kinematics and dynamics of PUMA560 are analyzed.The dynamic modeling method and its characteristics of manipulator are introduced.The general equation of manipulator's dynamics model is presented.The dynamic model is provided for the research of manipulator trajectory planning and control.(2)In order to solve the problem of joint acceleration mutation in the three order polynomial trajectory planning algorithm,the algorithm of the five order polynomial trajectory planning is studied.The results show that the calculation of five polynomial trajectory planning algorithm is relatively heavy,and it can ensure the continuity of angular acceleration and stable operation of motor.Trajectory planning is carried out in Cartesian space by using the spatial line and the spatial arc interpolation algorithm.MATLAB robotics toolbox is used to model the motion system and simulate the motion,which verifies the correctness and feasibility of the linear interpolation and circular interpolation algorithm.(3)Aiming at the chattering phenomenon of conventional sliding mode algorithm,an adaptive fuzzy sliding mode control algorithm for PUMA560 manipulator with external disturbance is proposed by analyzing the classical sliding mode algorithm.An adaptive single input single output fuzzy system is designed to calculate the control gain.Adaptive law is designed based on Lyapunov theory.The stability and convergence of the system are proved mathematically.The adaptive fuzzy sliding mode control is simulated in Simulink.The simulation results show that the chattering existing in the classical sliding mode control is weakened,and it has good tracking performance as the classical sliding mode control algorithm.