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...

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Main Author:	Youkun Zhong
Format:	article
Language:	EN
Published:	Faculty of Mechanical Engineering in Slavonski Brod, Faculty of Electrical Engineering in Osijek, Faculty of Civil Engineering in Osijek 2021
Subjects:	error location kinematics model manipulator trajectory tracking Engineering (General). Civil engineering (General) TA1-2040
Online Access:	https://doaj.org/article/38c1d5bb9efc4cf1af9b330373e2256d
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id	oai:doaj.org-article:38c1d5bb9efc4cf1af9b330373e2256d
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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

Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control

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