Time-Optimal and Jerk-Continuous Trajectory Planning and Tracking Control for 6-DOF Manipulator based on High-Order Fully Actuated System Control Theory

被引:0
作者
Zou, Die [1 ]
Huang, Likun [1 ]
Wang, Wei [1 ]
Lin, Mengying [1 ,3 ]
Huang, Zixin [1 ,2 ,3 ]
机构
[1] Wuhan Inst Technol, Sch Elect & Informat Engn, Wuhan 430205, Hubei, Peoples R China
[2] Wuhan Text Univ, Hubei Key Lab Digital Text Equipment, Wuhan 430299, Hubei, Peoples R China
[3] Wuhan Inst Technol, Hubei Key Lab Intelligent Robot, Wuhan 430205, Hubei, Peoples R China
来源
2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024 | 2024年
关键词
High-order fully actuated system; 6-DOF manipulator; Time optimal; Jerk continuous; Trajectory tracking control;
D O I
10.1109/FASTA61401.2024.10595238
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper focuses on a 6-DOF manipulator and studies how to reduce the trajectory operation time while ensuring the continuity and stability during motion and improving the precision of trajectory tracking control. The manipulator system's kinematic model is developed through utilizing the D-H parameter approach. And the manipulator system's dynamic model is derived through the utilization of Lagrangian dynamics equations, and incorporate the theory of fully actuated system to derive high-order fully actuated (HOFA) model of the system. The joint space interpolation trajectory is constructed by using the 7th-order B-spline curve interpolation method to guarantee the continuity of velocity, acceleration, and jerk. Additionally, to minimize the point-to-point operation time, the motion trajectory is optimized in conjunction with the PSO algorithm. Within the HOFA system model's framework, a direct parameterization approach is employed to design a trajectory tracking controller which guarantee rapid and precise tracking of the trajectory designed for the manipulator. Ultimately, the proposed design methods are validated through simulation experiments.
引用
收藏
页码:222 / 225
页数:4
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