Dual-Mode Synchronization Predictive Control of Robotic Manipulator

TL;DR

This paper introduces a dual-mode synchronization predictive control method for robotic manipulators that reduces end-effector contour errors during trajectory tracking, combining dynamic modeling, error coupling, and stability guarantees.

Contribution

It proposes a novel dual-mode control strategy that improves trajectory tracking accuracy by addressing joint coupling and ensuring stability.

Findings

Simulation results demonstrate improved tracking accuracy.

Experimental validation confirms the effectiveness of the control method.

The approach effectively reduces contour errors in robotic manipulators.

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. Firstly, the dynamic model of n-DoF robotic manipulator is discretized by using the Taylor expansion method, and the mapping relationship between the joint error in the joint space and the contour error in task space is constructed. Secondly, the synchronization error and the tracking error in the joint space are defined, and the coupling error of joints is derived through the coupling coefficient . Thirdly, 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.