The Trajectory Planning And High-precision Motion Control Of The End Of The Industrial Robot Arm

High-precision motion control of terminal trajectory has always been a hot topic in the research of manipulator.However,as a nonlinear system,the manipulator will be affected by various disturbances in the controlled system,which can deteriorate the tracking accuracy of the controller.Therefore,on the basis of reasonable trajectory planning and optimization of the terminal trajectory of the manipulator,how to improve the performance of the terminal trajectory control of the manipulator is imperious problem for the manipulator system with model uncertainties.The main contents of this paper are as follows:(1)By establishing the joint coordinate system of the manipulator,the solving process of the kinematics equation of the manipulator is analyzed by D-H parameter method,and the derivation process of the dynamic modeling of the manipulator is introduced in detail by Lagrange function balance method.(2)Based on the kinematics and dynamics analysis of the manipulator,different interpolation function methods are used to generate the motion trajectories of the joints for the path points of the terminal effector,and genetic algorithm is used to optimize the trajectories of the planned terminal effector.(3)Hybrid dynamic model is established on the basis of considering the characteristics of joint motor driver.A robust controller with the integration of the multilayer neural network with the robust synovial membrane is proposed for the nonlinear manipulator system with the parameter uncertainties and external disturbances.The self-learning ability of the neural network is exploited to estimate the model uncertainty of the system,and the robustness of the system is further strengthened by the robust synovial membrane technology,which weakens the effect of the system uncertainty on the tracking performance,thus realizing the high-precision motion control of the terminal trajectory of the manipulator.(4)Considering the non-measurability of various disturbances in the manipulator system,a linear extended state observer is designed to approximate the unknown disturbance by adjusting the bandwidth of the observer.And then a composite control combined with the finite-time control technology and robust technology is proposed for realizing the finite-time stable control of the manipulator system.The validity of the proposed control strategy is verified by designing the position controller of the manipulator's double joints based on the DSP28335 chip.