Trajectory Tracking Control of Robot Manipulators Based on U-Model

Abstract

A new trajectory tracking control method based on the U-model is proposed to improve the trajectory tacking speed of robot manipulators. The U-model method is introduced to relieve the requirement of the dynamic mathematical model and make the design of trajectory tracking controller of robot manipulators simpler. To further improve the trajectory tacking speed, an improved iterative learning control algorithm is used to suppress the influence of the initial state error with less computation time. Experimental results show that the proposed control method is effective and practical for the trajectory tracking control of robot manipulators, especially with a high real-time requirement.