Research of Trajectory Tracking Algorithms for Industrial Robot

2014 ◽  
Vol 568-570 ◽  
pp. 922-926
Author(s):  
Cheng Liu ◽  
Xue Ren Li ◽  
Yun Ze Li
Keyword(s):  
Trajectory Tracking ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Industrial Robot ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Fast Variable ◽  
Control Effect ◽  
Improve Response Rate ◽  
Structure Control

the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.

An adaptive variable structure control of the robot satellite system with floating base in Cartesian space

2016 ◽  
Vol 230 (18) ◽  
pp. 3241-3252 ◽  
Author(s):  
Fuhai Zhang ◽  
Yili Fu ◽  
Shuguo Wang
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Satellite System ◽  
External Disturbances ◽  
Structure Control ◽  
Cartesian Space ◽  
Floating Base ◽  
Parameter Variations

Aiming at the non-parametric and time-varying parametric uncertainty problems such as the external disturbances, smooth parameter variations and jump parameter changes existing in the robot satellite system with floating base, an adaptive variable structure trajectory tracking control method in Cartesian space is proposed. The dynamics equation in joint space of the robot satellite system with floating base is established based on the extended manipulator model, and the dynamics model of the system in Cartesian space is derived considering external disturbances to the manipulator and the base simultaneously. An adaptive variable structure controller is designed by adopting the composite adaptive control combined with variable structure control under the condition that the bounds of external disturbances and parameter variations are unknown, and the robustness analysis of the controller is performed. The simulation of a two-link planar robot satellite system with floating base adopting the control method presented is implemented. The simulation result shows that the end-effector of the robot satellite with floating base has a good capability of trajectory tracking in Cartesian space.

Trajectory Tracking of a Nonholonomic Mobile Robot with Kinematic Disturbances: A Variable Structure Control Design

2011 ◽  
Vol 9 (3) ◽  
pp. 276-283 ◽  
Author(s):  
Nardenio A. Martins ◽  
Ebrahim S. Elyoussef ◽  
Douglas W. Bertol ◽  
Edson R. De Pieri ◽  
Ubirajara F. Moreno ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Control Design ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Structure Control ◽  
Nonholonomic Mobile Robot
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