Predictive control of robotic arm motion based on MESEN
PING Meng-ling
LIU Bin
HE Fang
LIU De-wang
YU Meng-qi
Abstract：Aiming at the motion control problem of the manipulator,first,the DH parameter table and kinematic equation corresponding to the physical manipulator are established.Then,a position predictive controller of the manipulator is designed using kinematics.Subsequently,to address the convex optimization problem of the controller model,the terminal cost and terminal constraints are introduced,and the enhanced iterative model predictive control strategy is employed to achieve the motion control of the multi-axis manipulator.The Error-Summing Enhanced Newton algorithm is used to improve the iterative efficiency in the rolling optimization process.In addition,a MESEN algorithm is proposed which further improves the convergence speed of the system and reduces the dependence of the optimization process on the initial system deviation by effectively controlling the step size of the algorithm and the correlation coefficient in the model.Finally,the convergence of the MESEN algorithm is analyzed using Lyapunov's theorem,and the six-axis manipulator is simulated and verified.Experimental results show that the proposed algorithm performs well in the large-scale constrained model.
Keywords：robotic arm motion controlconvex optimizationmodel predictive controlMESEN
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：11( 2497-2507 )