Trajectory planning and control algorithm of industrial robot manipulator

Abstract

As the industrial robot task becomes more complex, the difficulty of trajectory planning and tracking control of manipulator is gradually increasing. To minimize the vibration during the manipulator motion and improve the planning accuracy, the method of quintic polynomial combined with non-uniform B-spline interpolation is studied for joint space (JS) planning. The trajectory tracking system is easily affected by friction nonlinearity and parameters. So a JS trajectory tracking controller based on based on fuzzy neural network (FNN) is designed. Through simulation experiments, the curve obtained by the planning method studied is smoother and the planning error is minimum. The maximum position error is 0.09 rad, and the speed error is not more than 0.1 rad/s. The controller performance test results under different parameters show that the Ŵ, ĉ, ĸ parameter in FNN can be adjusted in real time, and the value will not affect the performance of the controller. The fluctuation range of trajectory error of different joints is within ±0.2×10-5 rad, which indicates that the performance of AFNNC controller studied is better. And its response time is the shortest and its robustness is better when the load changes suddenly.