Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning
In order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions, a three-joint articulated robot model is designed, and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the m...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.004 |
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| _version_ | 1841546914267398144 |
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| author | Zhou Qinyuan Hu Xianzhe |
| author_facet | Zhou Qinyuan Hu Xianzhe |
| author_sort | Zhou Qinyuan |
| collection | DOAJ |
| description | In order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions, a three-joint articulated robot model is designed, and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the model. In view of the non-repetitive and nonlinear characteristics of the articulated robot system, it is proposed that a high-order internal model iterative learning control algorithm can be applied to the control of the articulated robot system. A reasonable learning gain and a higher internal model order are designed to strictly prove its convergence in theory. The simulation contrast experiment and the trajectory tracking experiment after adding the disturbance are designed. The results show that the high-order internal model iterative learning algorithm converges faster and has good control effect. |
| format | Article |
| id | doaj-art-e47bc3c6963d4e558ff48e878dbbb01e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e47bc3c6963d4e558ff48e878dbbb01e2025-01-10T15:02:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-01-0148202748025750Research on Articulated Robot Control Based on High-order Internal Model Iterative LearningZhou QinyuanHu XianzheIn order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions, a three-joint articulated robot model is designed, and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the model. In view of the non-repetitive and nonlinear characteristics of the articulated robot system, it is proposed that a high-order internal model iterative learning control algorithm can be applied to the control of the articulated robot system. A reasonable learning gain and a higher internal model order are designed to strictly prove its convergence in theory. The simulation contrast experiment and the trajectory tracking experiment after adding the disturbance are designed. The results show that the high-order internal model iterative learning algorithm converges faster and has good control effect.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.004Articulated robotHigh-order internal modelIterative learning controlTrajectory tracking |
| spellingShingle | Zhou Qinyuan Hu Xianzhe Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning Jixie chuandong Articulated robot High-order internal model Iterative learning control Trajectory tracking |
| title | Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning |
| title_full | Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning |
| title_fullStr | Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning |
| title_full_unstemmed | Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning |
| title_short | Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning |
| title_sort | research on articulated robot control based on high order internal model iterative learning |
| topic | Articulated robot High-order internal model Iterative learning control Trajectory tracking |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.01.004 |
| work_keys_str_mv | AT zhouqinyuan researchonarticulatedrobotcontrolbasedonhighorderinternalmodeliterativelearning AT huxianzhe researchonarticulatedrobotcontrolbasedonhighorderinternalmodeliterativelearning |