Dynamic trajectory planning of polishing robot based on fuzzy compensation model predictive control
ZOU Tao
LING Zhen-fang
XIANG Chao-qun
ZHANG Jian-hui
Abstract：To address the trajectory planning challenges of polishing robots under complex working conditions involving joint constraints,frictional disturbances,and external end-effector forces,a dual-layer predictive control method integrated with force feedback is proposed to achieve dynamic trajectory planning and enhance system robustness.The hierarchical framework consists of two layers:the upper layer generates globally optimal trajectories using model predictive control(MPC)under ideal conditions,while the lower layer dynamically adjusts the control output through fuzzy-compensated pre-dictive control.Simultaneously,force sensor feedback is integrated to construct a dynamic constraint optimization model,which adjusts pressure thresholds based on task requirements to prevent overshoot and ensure safe interaction.Simula-tion results demonstrate that the proposed method achieves stable and smooth trajectory tracking in complex environments through the synergistic mechanism of hierarchical optimization and real-time compensation,with significant improvements in both precision and energy efficiency.
Keywords：polishing robotdynamic trajectory planningfuzzy compensation controlforce feedbackdual-layer predictive control
Publication Date：2025-12-30
Online Publishing Date：2026-03-05(First online date of this platform, not the publication date of the document)
Pages：10( 2487-2496 )