Research On Trajectory Tracking Control Strategy Of 6R Manipulator Based On Sliding Mode Control

In the last few years,propelled by the fast-paced advancements in modern industry,manipulators have become a ubiquitous instrument across various industries such as manufacturing,medical care,service provision,aerospace,and more,establishing itself as an indispensable component of contemporary industrial practices.However,in daily applications,high-precision trajectory tracking control is often required.Unfortunately,in actual situations,the trajectory planning of the manipulator can be complicated and discontinuous,which can impact the system’s stability and accuracy.Moreover,many uncertain factors,such as modeling errors and external disturbances,can affect the accuracy in manipulator control system.In order to address these challenges,this essay specifically focuses on a six-degree-of-freedom manipulator for the purpose of trajectory planning and tracking.Establishing the kinematics model and the dynamic representation of six-degree-of-freedom manipulator.（1）Time-optimal trajectory planning of the manipulator based on the sparrow algorithm.To address the impact of sudden changes in the trajectory on the manipulator,the essay utilizes a 3-5-3 polynomial interpolation method as a basis for its joint space trajectory planning approach.To tackle the issue of enhancing the efficiency of the manipulator’s performance,the sparrow search algorithm is used,along with the Tent chaotic map and the improved sine-cosine strategy to prevent falling into local optimum.Through simulation experiments,it is shown that this method is effective in ensuring the smoothness of the trajectory and shortening the running time of the manipulator.When contrasted with the PSO algorithm,there is a 25.2%reduction in the processing time.The experiment confirmed the practicality of the planned trajectory.（2）Nonlinear observer for disturbance sliding mode control with integral action for trajectory tracking in manipulator based on non-singular fast terminal.To enhance the precision of manipulating objects with the robot arm,even in the presence of unforeseen disturbances,a disturbance observer is utilized to compensate for their influence.The strategy for sliding surface combined with integral is used to effectively reduce the impact of system static error.Simulation results show that the interference observer can accurately compensate for interference and reduce its impact on the system.Additionally,the non-singular fast integral sliding surface improves the accuracy of the control system,with tracking error’s root mean square value dropping by 19%.However,Choosing a non-singular fast integral sliding surface results in slower response speed for the control system.and aggravates chattering to a certain extent.（3）Neural network-based super-twisting integral sliding mode trajectory tracking control of the manipulator.To address the issues in the previous chapter,the improved superhelix algorithm is used,and the traditional symbolic function is replaced with a special power function to effectively suppress chattering.The control system’s reaction time is also increased.To address the modeling error of the multi-joint manipulator control system,utilizing a radial basis function neural network to approximate the dynamic model of the robotic arm system and implementing adaptive laws to adjust the weights and compensate for errors.Simulation results show that the controller is robust to system modeling errors and can effectively improve the control error to within 10^-2rad while effectively reducing the chattering problem.Figure[46]table[9]reference[72]...