Research On Trajectory Planning And Control Of Manipulator

This article learns a lot of scholars' research on the robot arm trajectory planning algorithm and control algorithm.Through comparative analysis,the control algorithm to be used in this paper and the specific research object are determined.Then perform trajectory planning for the robotic arm.First,complete the Cartesian space trajectory planning with Bspline interpolation,and then use the fifth-degree polynomial to perform joint space trajectory planning for each point,thereby obtaining the path to be followed by the robotic arm and the corresponding joint angle.The conventional PD control was used to find that the system responded slowly and the tracking error was large,so gravity compensation was added to solve the above problems.However,the PD control tracking error still exists,and the control torque is too large and there is jitter.So sliding mode control is adopted.Conventional sliding mode control reduces the jitter of the driving torque and reduces the trajectory tracking error,but the system jitter is still obvious.By using the hyperbolic tangent switching function to improve,the chattering and control torque of the system are further reduced.Based on this,the polished and polished robotic arm is selected to control the contact force applied by the end of the robotic arm.While enabling the robotic arm to complete the trajectory tracking,the polishing and polishing tasks are completed as required.The first is the use of conventional PID impedance control.Simulation shows that there is overshoot in the contact force at the end,and the system trajectory tracking error is too large.Introducing sliding mode control,designing impedance sliding mode control,and verifying the control effect of the algorithm through simulation,the robot arm can control the contact force at the end of the robot arm and complete the trajectory tracking.The probably completed work is to use conventional PID impedance control first,and then the simulation found that there are deficiencies,there is overshoot of the terminal contact force,and the system trajectory tracking cannot be completed well.Therefore,further improvement,the introduction of sliding mode control in the controller,and design of impedance sliding mode control,through simulation to verify the correct algorithm,the robot arm can control the contact force at the end of the robot arm while completing trajectory tracking.