基于UR5机械臂的轨迹跟踪控制算法研究

Research on Trajectory Tracking Control Algorithm based on UR5 Manipulator

为了在现有基础上提高机械臂轨迹跟踪控制的精度,采用自适应模糊反演控制算法对六自由度机械臂UR5进行轨迹跟踪控制算法研究。用拉格朗日法对UR5机械臂进行动力学建模以避免系统的不确定因素影响。由于UR5机械臂满足Pieper准则,故对其进行模型简化,减少运算量,并用拉格朗日法对前两个自由度进行动力学方程推导,该算法在角位移和角速度跟踪方面都表现出了很好的性能。

In order to improve the accuracy of manipulator trajectory tracking control on the existing basis,this paper proposes to study the trajectory tracking control algorithm of 6-DOF(degree of freedom)manipulator UR5 by using the adaptive fuzzy inversion control algorithm.The dynamic modeling of UR5 manipulator is established by Lagrange method to avoid the influence of uncertain factors of the system.Since the UR5 manipulator meets the Pieper criterion,its model is simplified to reduce the amount of computation,and the dynamic equations of the first two degrees of freedom are deduced by Lagrange method.The algorithm shows good performance in angular displacement and angular velocity tracking.