Trajectory tracking control of cable-driven continuum robot based on QPSO-MPC

被引：0

作者：

Chen, Qi ^{[1
]}

Di, Hao ^{[1
]}

Shen, Kangyu ^{[1
]}

机构：

[1] School of Logistics Engineering, Shanghai Maritime University, Shanghai

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2023年 / 51卷 / 11期

关键词：

automatic control technology; cable-driven continuum robot; model predictive control; quantum particle swarm optimization; trajectory tracking;

D O I：

10.13245/j.hust.229388

中图分类号：

学科分类号：

摘要：

To solve the problem that it was difficult to control cable-driven continuum robots accurately and smoothly，a model predictive control (MPC) method based on quantum particle swarm optimization (QPSO) was designed to achieve accurate trajectory tracking under constraints． The kinematics model of the continuum robot was established by the mapping relationship among driving space，joint space and working space．The Jacobian matrix derived from the coordinate transformation of the end-effector was discretized to obtain the linear error model of the robot．The dynamic control variables were solved by the QPSO model under system constraints．Operational experiment results show that compared with the traditional MPC，the average error of the designed QPSO-MPC is reduced by 52.64%． © 2023 Huazhong University of Science and Technology. All rights reserved.

引用

页码：23 / 29

页数：6

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