Application of RBF Method in Mathematical Model of Trajectory Deviation Control of Manipulator
The trajectory deviation control of manipulator can make it reach the specified position accurately and complete grasp-ing task,but in actual control,environmental disturbance will affect the control effect.Therefore,a new mathematical model of trajectory deviation control of manipulator was designed based on RBF method.The kinematic coordinate system based on the ma-nipulator was established to solve the inverse kinematics of the manipulator,and the joint Angle state of the manipulator was ob-tained.The multi-machine joint system was used to measure the operating deviation of each joint Angle,and the deviation was substituted into RBF structure.On the basis of training the RBF network,the compensation control rate was calculated by consid-ering the uncertainties of nonlinear friction,external disturbance and dynamic model parameters.Then,an adaptive adjustment factor was introduced to control the trajectory deviation of the manipulator.Experimental results show that the identification error of different points is small.Regardless of whether there is disturbance or not,the model has a good effect on the position tracking control of the manipulator,and the coincidence degree between the manipulator trajectory and the expected trajectory is high,in-dicating that the model can effectively control the trajectory deviation of the manipulator.
RBF MethodRobotic ArmTrajectory Deviation ControlKinematicsInverse SolutionCoordinate System
NETL
NSTL
万方数据
维普
