Trajectory Tracking Correction Control of Robot Based on Dynamic Inverse Model
LIN Rongxia
Abstract：The variable stiffness joint driven robot is affected by the flexible working surface,which leads to the poor trajecto?ry following performance of robot control. A trajectory tracking correction method based on dynamic inverse model is proposed. The D-H parameter and kinematics model of the variable stiffness joint driven robot are constructed. The trajectory tracking parameter sampling and adaptive fusion processing of the robot are carried out by using the extended Kalman filter(EKF)method. Combined with the resonant ratio control method,the error feedback adjustment of robot trajectory following is carried out. The dynamic in?verse control model is used to calculate the robot trajectory following error,and the object of adjusting robot's geometric space posi?tion and pose parameter is used to adjust the robot's trajectory following error. The kinematics parameters of the model are obtained by using the geometric relationship between the joint axes. The parameters of the model can be fed back to the control system of the robot with variable stiffness in time and the optimal design of the control law can be realized. The simulation results show that the proposed algorithm is more stable and the trajectory correction performance of the control process is better.
Keywords：dynamic inverse modelrobottrajectory followingdeviation correction controlstiffness
Publication Date：2019-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：5( 83-87 )