A Geometry based IK Solver and B-Spline Method for Trajectory Tracking of 5-DOF Manipulators

Zhu, Qianfeng; Wang, Junxiao; Zhang, Wen-An

doi:10.23919/chicc.2018.8483262

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2024

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Cited by 2 publications

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“…The representation of these constraint functions looks like equation (40) where the joint velocities are forced to be equal to the derivative of the joint positions (including the symbolic variables), and the same happens for the joint accelerations that depend on the robot dynamic attributes (estimated in section 3.2.2.2), the joint positions, velocities, torques, gravity effect and end-effector applied force (assumed zero). Initial guess The last thing needed to attempt to solve the NLP problem is an initial guess of the CasADi symbolic variables (joint positions, velocities and torques).…”

Section: Dynamic Constraintsmentioning

confidence: 99%

RoboDrummer - Diseño de un robot percusionista utilizando manipuladores robóticos

Guerra¹

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Section: Dynamic Constraintsmentioning

confidence: 99%

RoboDrummer - Diseño de un robot percusionista utilizando manipuladores robóticos

Guerra¹

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A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization

SHI,

CHENG,

ZHANG

et al. 2024

西北工业大学学报

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This paper analyzes the characteristics of the trajectory tracking control problem of the manipulator and establishes a two-degree-of-freedom manipulator dynamic model. In order to solve the problem that generalized predictive control(GPC) algorithm is difficult to apply to nonlinear systems, a feedback linearization-based generalized predictive control(FL-GPC) algorithm framework is designed. The bottom layer of the algorithm is the linear system predictive control and the non-linear term is replaced by the estimated value. The upper level is iteratively revised estimates and the non-linear term is estimated using the iterative calculation method. Finally, the FL-GPC algorithm is used to simulate the static and dynamic trajectory tracking tasks of a two-degree-of-freedom manipulator. Simulation results show that the algorithm can perform effective manipulator trajectory tracking control.

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A Geometry based IK Solver and B-Spline Method for Trajectory Tracking of 5-DOF Manipulators

Cited by 2 publications

References 9 publications

RoboDrummer - Diseño de un robot percusionista utilizando manipuladores robóticos

RoboDrummer - Diseño de un robot percusionista utilizando manipuladores robóticos

A trajectory tracking algorithm of generalized predictive control manipulator based on feedback linearization

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