Research on Trajectory and Position Tracking Control Strategy of 6-DOF Manipulator
For the position control of 6-DOF robot trajectory,two different control methods,sliding mode control with sliding disturbance observer(SMCSPO)and integral sliding mode control(ISMC),are designed.SMCSPO has strong robustness to the disturbance composed of nonlinearity,parameter uncertainty and external disturbance,but it is difficult to identify the system pa-rameters.In the aspect of position control of multi DOFrobot,ISMCdoes not need to deduce the motion equation of multi DOFro-bot or carry out system identification,and can realize disturbance compensation through the switch gain of control input.Com-pared with SMCSPO,ISMC has higher tracking accuracy.The simulation results show that the tracking error of ISMC is less than that of SMCSPO,and the convergence speed is better.
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