Affiliation:
1. School of Mechanical and Electrical Engineering, Guangzhou University , Guangzhou 510006, China
2. School of Automation, Guangdong University of Technology , Guangzhou 510006, China
Abstract
Abstract
To reduce the contour error of the end-effector of a robotic manipulator during trajectory tracking, a dual-mode synchronization predictive control is proposed. First, the dynamic model of n-degree-of-freedom (n-DOF) robotic manipulator is discretized by using the Taylor expansion method, and the mapping relationship between the joint error in joint space and the contour error in task space is constructed. Second, the synchronization error and the tracking error in joint space are defined, and the coupling error of joints is derived through the coupling coefficient λ. Third, a dual-mode synchronization predictive control is proposed, and the stability of the proposed control system is guaranteed using constraint set conditions. Finally, numerical simulation and experimental results are shown to prove the effectiveness of the proposed control strategy.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
6 articles.
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