Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control

This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinematics model predictive control. Firstly, the kinematics of the manipulator was analyzed, and modeled mathematically. Next, the pose errors of the end effector were determined against the error parameters...

Descripción completa

Guardado en:
Detalles Bibliográficos
Autor principal: Youkun Zhong
Formato: article
Lenguaje:EN
Publicado: Faculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek 2021
Materias:
Acceso en línea:https://doaj.org/article/38c1d5bb9efc4cf1af9b330373e2256d
Etiquetas: Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
id oai:doaj.org-article:38c1d5bb9efc4cf1af9b330373e2256d
record_format dspace
spelling oai:doaj.org-article:38c1d5bb9efc4cf1af9b330373e2256d2021-11-07T00:39:13ZManipulator Trajectory Tracking Based on Kinematics Model Predictive Control1330-36511848-6339https://doaj.org/article/38c1d5bb9efc4cf1af9b330373e2256d2021-01-01T00:00:00Zhttps://hrcak.srce.hr/file/385038https://doaj.org/toc/1330-3651https://doaj.org/toc/1848-6339This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinematics model predictive control. Firstly, the kinematics of the manipulator was analyzed, and modeled mathematically. Next, the pose errors of the end effector were determined against the error parameters involving joints and rods. After that, the pose error model of the end effector was adopted to quantify how much the errors of different parameters affect the location of the manipulator. Finally, the geometric errors of manipulator trajectory were identified by the least squares (LS) method. Experimental results show the effectiveness of our model. The research results provide a reference for the theoretical analysis and application of manipulator trajectory tracking strategy.Youkun ZhongFaculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek articleerror locationkinematics modelmanipulatortrajectory trackingEngineering (General). Civil engineering (General)TA1-2040ENTehnički Vjesnik, Vol 28, Iss 6, Pp 2156-2163 (2021)
institution DOAJ
collection DOAJ
language EN
topic error location
kinematics model
manipulator
trajectory tracking
Engineering (General). Civil engineering (General)
TA1-2040
spellingShingle error location
kinematics model
manipulator
trajectory tracking
Engineering (General). Civil engineering (General)
TA1-2040
Youkun Zhong
Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
description This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinematics model predictive control. Firstly, the kinematics of the manipulator was analyzed, and modeled mathematically. Next, the pose errors of the end effector were determined against the error parameters involving joints and rods. After that, the pose error model of the end effector was adopted to quantify how much the errors of different parameters affect the location of the manipulator. Finally, the geometric errors of manipulator trajectory were identified by the least squares (LS) method. Experimental results show the effectiveness of our model. The research results provide a reference for the theoretical analysis and application of manipulator trajectory tracking strategy.
format article
author Youkun Zhong
author_facet Youkun Zhong
author_sort Youkun Zhong
title Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
title_short Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
title_full Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
title_fullStr Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
title_full_unstemmed Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control
title_sort manipulator trajectory tracking based on kinematics model predictive control
publisher Faculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek
publishDate 2021
url https://doaj.org/article/38c1d5bb9efc4cf1af9b330373e2256d
work_keys_str_mv AT youkunzhong manipulatortrajectorytrackingbasedonkinematicsmodelpredictivecontrol
_version_ 1718443603025461248