TRAJECTORY TRACKING AND COMPENSATION CONTROL OF REDUNDANT MANIPULATOR BASED ON INTEGRATED CONTROLLER

Nan Yan, Gang Chen, Jing Wu, and Guiyang Jin

Keywords

Redundant manipulator, feedforward compensation, integrated controller, position control

Abstract

Based on DSP (Digital Signal Process) + FPGA (Field Programmable Gate Array) multi-motor-coordinated control of multijoint manipulator, an integrated control design is proposed. Aiming at the problems of external disturbances such as friction, gravitational moment and moment of inertia in a 7-degree-of-freedom (7DOF) redundant manipulator during the movement process, a dynamic model of the mechanical arm is established. Moreover, the PID+feedforward compensation controller based on friction compensation and gravity compensation is designed. The experiment with a drive-control integrated controller and a 7DOF manipulator is carried out. The results show that after adding feedforward compensation, the fluctuations of the motor speed and current Iq of the manipulator joint are small, and the system response is fast and can reach the control position more quickly. The experimental results also verify that the control strategy of the feedforward compensation design is effective. It can improve the dynamic response performance of the manipulator and meet the requirements of the engineering application of the manipulator.

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