Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function

Abstract

In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of cases are designed and simulated by MATLAB. The experimental results show that, compared with the conventional B-spline, the improved B-spline has better performance in tracking accuracy and smoothness of motion trajectory. By changing the mechanism of the manipulator, the cases of different weights and lengths are designed. The experimental results in these cases show that the proposed scheme can be applied to most of the 2-DOF robotic manipulator control systems.