A spray robot arm tracking control method, system, controller and robot

Abstract

The present application belongs to the field of control of spraying mechanical arm of antique building, and provides a spraying mechanical arm tracking control method, system, controller and robot, aiming at the influence of double external disturbances of external force and motor voltage on actual operation of the mechanical arm in the actual spraying mechanical arm application process, designing an external force composite disturbance observer including various forms of disturbance, combining adaptive control technology to solve the problem of control precision of the mechanical arm system disturbed by uncertain parameters, improving the adaptive anti-disturbance ability of the mechanical arm system, and realizing the improvement of the mechanical arm tracking control effect.

Description

Technical Field

[0001] This invention belongs to the field of spray painting robotic arm control for antique-style buildings, and particularly relates to a tracking control method, system, controller and robot for a spray painting robotic arm. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With rapid social development and accelerated urbanization, some traditional buildings of historical and cultural value have been damaged or disappeared, causing concern and reflection. On the other hand, as people's understanding and appreciation of traditional culture and historical heritage increase, their awareness of protecting and inheriting historical culture is gradually strengthening. Against this backdrop, antique-style architecture, as a way to protect and inherit historical culture, has gradually gained widespread recognition and promotion. Currently, antique-style buildings, such as temples and pavilions, are mainly made of wood. The construction process involves significant difficulties in transportation and finishing. Problems such as uneven spraying, cracks, and water droplets / oil droplets occur during the dyeing process. Furthermore, the high maintenance costs after construction hinder the inheritance and development of culture. Therefore, new materials and methods are urgently needed to promote the construction and development of antique-style architecture.

[0004] However, robotic painting arms are mostly used in outdoor environments, making them susceptible to external disturbances. Furthermore, during the painting process, the position and posture of the robotic arm are affected by the impact force generated when the paint is released from the spray gun. Additionally, unstable power supplies, voltage fluctuations, and electromagnetic interference from other sources can cause voltage disturbances in the robotic arm's motors. All these disturbances can lead to momentary changes in the posture of the robotic arm's end effector, spray gun vibration, or inaccurate positioning, thus affecting the painting results. Summary of the Invention

[0005] To address at least one of the technical problems mentioned above, this invention provides a tracking control method, system, controller, and robot for a painting robotic arm. Addressing the impact of external forces and motor voltage disturbances on the actual operation of the robotic arm during practical applications, the invention designs a composite disturbance observer for various forms of disturbances. Combined with adaptive control technology, it solves the problem of uncertain parameters interfering with the control accuracy of the robotic arm system, improves the adaptive disturbance rejection capability of the robotic arm system, and enhances the tracking control effect of the robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a tracking control method for a spraying robotic arm, comprising the following steps:

[0008] Obtain the operating parameters of the robotic arm linkage and motor for spraying antique building components;

[0009] The disturbance observation value is calculated by combining the operating parameters of the robotic arm linkage and motor for spraying the antique building components with the constructed composite disturbance observer; wherein, the construction process of the composite disturbance observer is as follows:

[0010] A system model of a spraying robot arm is constructed to consider the impact of external interference from both external forces and motor voltage on the actual operation of the robot arm during practical application.

[0011] Based on the model of the spraying robot arm system, multiple filters are constructed, and the predicted value of the composite disturbance applied to the torque is estimated by combining the filters.

[0012] By combining disturbance observations, adaptive tracking control is applied to the spraying robot arm to eliminate torque and voltage disturbances, adaptively adjust unknown parameters and disturbances in the actual robot arm system, and output control voltage to the robot arm motor to control the robot arm's movement.

[0013] A second aspect of the present invention provides a tracking control system for a spraying robotic arm, comprising:

[0014] The data acquisition module is configured to acquire the operating parameters of the robotic arm linkage and motor for spraying antique building components.

[0015] The composite disturbance observation module is configured to calculate disturbance observation values ​​by combining the operating parameters of the linkage and motor of the robotic arm used for spraying the antique building components with the constructed composite disturbance observer; wherein, the construction process of the composite disturbance observer is as follows:

[0016] A system model of a spraying robot arm is constructed to consider the impact of external interference from both external forces and motor voltage on the actual operation of the robot arm during practical application.

[0017] Based on the model of the spraying robot arm system, multiple filters are constructed, and the predicted value of the composite disturbance applied to the torque is estimated by combining the filters.

[0018] The adaptive tracking module is configured to: combine disturbance observations to adaptively track and control the painting robot arm, eliminate torque disturbances and voltage disturbances, adaptively adjust unknown parameters and disturbances in the actual robot arm system, and output control voltage to the robot arm motor to control the robot arm movement.

[0019] A third aspect of the invention provides a controller including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform steps in a spraying robot tracking control method as described in the first aspect.

[0020] A fourth aspect of the present invention provides a robot comprising at least: a robot body and a controller as described in the third aspect.

[0021] A fifth aspect of the present invention provides a computer-readable storage medium.

[0022] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a spraying robot tracking control method as described in the first aspect.

[0023] A sixth aspect of the present invention provides a program product.

[0024] A program product includes a computer program that, when executed by a processor, implements the steps in a spraying robot tracking control method as described in the first aspect.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] This invention addresses the impact of external forces and motor voltage disturbances on the actual operation of robotic arms during practical spraying applications. It designs a composite disturbance observer that includes various forms of disturbances and combines it with adaptive control technology to solve the problem of uncertain parameters interfering with the control accuracy of the robotic arm system, thereby improving the adaptive disturbance rejection capability of the robotic arm system and enhancing the tracking control effect of the robotic arm.

[0027] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 This is a flowchart of the adaptive tracking control method for a robotic arm provided in an embodiment of the present invention;

[0030] Figure 2 This is a block diagram of the adaptive tracking control of the robotic arm provided in an embodiment of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0034] Example 1

[0035] like Figure 1 As shown, this embodiment provides a tracking control method for a spraying robotic arm, including the following steps:

[0036] Step 1: Obtain the operating parameters of the robotic arm linkage and motor for spraying antique building components;

[0037] In this embodiment, multiple sensors are installed on the linkage of the spraying robot arm, including a position sensor, an angular velocity sensor, an acceleration sensor, and a current sensor.

[0038] The operating parameters of the robotic arm linkage and motor for spraying the antique building components include the angular position, angular velocity, acceleration, and motor current data of the robotic arm linkage.

[0039] Step 2: Calculate the disturbance value by combining the operating parameters of the spraying robot arm linkage and motor with the designed composite disturbance observer;

[0040] Step 3: Combining the disturbance value with the designed adaptive tracking module, eliminate torque disturbance and voltage disturbance, adaptively adjust the unknown parameters and disturbances in the actual robotic arm system, and output control voltage to the robotic arm motor.

[0041] To more clearly illustrate the technical solution of the present invention, the following examples are provided for further explanation.

[0042] like Figure 1As shown, the specific control flow is as follows: First, the data acquisition module collects the angular position, angular velocity, acceleration, and motor current data of the spraying robot arm linkage, and packages the collected data according to the acquisition time to send it to the disturbance observation module and the adaptive control module; the disturbance observation module receives the data packets collected by each sensor of the robot arm sent by the data acquisition module, unpacks the data packets, calculates the expected disturbance magnitude through the designed composite disturbance observer, and then sends it to the adaptive control module; the adaptive module receives the observer observation value sent by the disturbance observer and the sensor data collected by the data acquisition module, and eliminates torque disturbance and voltage disturbance through the adaptive tracking control algorithm of the spraying robot arm, adaptively adjusting the unknown parameters p2, θ, and disturbance in the actual robot arm system. In the δ, the output control voltage V is supplied to the robotic arm motor.

[0043] In step 2, the disturbance value is calculated by combining the operating parameters of the spraying robot arm linkage and motor with the designed composite disturbance observer. Specifically, this includes:

[0044] Step 201: Construct a model of the spraying robotic arm system;

[0045] The robotic arm system model is as follows:

[0046]

[0047] Where q represents the angular position of the robotic arm link. Angular velocity, Here, I represents acceleration, V represents motor current, and V represents input control voltage. For rotational inertia, G(q) represents centrifugal force, friction, and gravity, respectively; τ represents the joint torque of the robotic arm; τe represents the external disturbance applied by the environment and the recoil force of the end effector on the robotic arm during the spraying process caused by the paint released from the spray gun; K m =KN represents the coefficient between current and the generated torque, where K and N are the torque constant and the combined deceleration coefficient, L is the armature inductance, R is the circuit resistance, and K e V represents the reverse momentum constant of the motor. e This represents motor voltage disturbance.

[0048] Step 202: Rewrite the painting robot arm system model and simplify the control process to obtain the rewritten painting robot arm system model;

[0049] To simplify the derivation of the control process and achieve a strict feedback form, the mathematical model of the robotic arm system uses the substitution x1 = q. x3=I, u=V, y=x1 can be rewritten as:

[0050]

[0051] in, It is an unknown parameter. These are known parameters. and It is a known function. and As a control method, it is necessary to deal with disturbances applied to torque and voltage.

[0052] Because the external environmental disturbances and recoil disturbances from the spray gun during outdoor operations are random, this embodiment designs a composite disturbance estimation method. Where Y is a known constant variable [1,0], and ω is unknown and has the expression. Where X is a known matrix It is a known function δ is an unknown constant variable.

[0053] The disturbance observation module is designed to apply disturbances to the torque of the spraying robotic arm. Because the external force interference experienced by the painting robot arm during outdoor operations and the recoil force interference exerted on the robot arm torque by the spray gun at the end of the actuator when spraying paint are both random and cannot be measured by sensors, it is impossible to eliminate the disturbance control in the adaptive control module. Therefore, the design of a disturbance observer is of great significance.

[0054] Step 203: Based on the physical structure and motor model of the robotic arm in actual application, define and assign values ​​to the model variables of the spraying robotic arm system, combining simulation and actual robotic arm testing;

[0055] To ensure that the mathematical model of the robotic arm system conforms to actual spraying applications, the above variables are quantified according to the actual physical structure of the designed robotic arm and the motor parameters as follows:

[0056]

[0057]

[0058] Given the physical quantity defined and assigned the value: J = 1.625 × 10⁻⁶ -3 kg·m 2 , m=0.506kg, d=0.305m, M=0.434kg, L=25×10 -3 H, R = 5Ω, B0 = 16.25 × 10 -3 N·m·s / rad, R0=0.023m, K e = 0.9 V·s / rad, K τ = 0.9 N·m / A.

[0059] Step 204: Set up multiple filters and obtain the predicted value of the composite disturbance applied to the torque by combining the filters;

[0060] The disturbance observation module The design principle of the composite disturbance observer is as follows:

[0061] In order to construct A composite perturbation observer is designed with four filters ι1, ι2, ι3, and ι4:

[0062]

[0063] Where E is a known constant. The predicted value of ω can be obtained by combining four filters.

[0064]

[0065] Thus, a composite disturbance applied to the torque is obtained. Predicted value

[0066]

[0067] in and ω and The estimation error,

[0068] This is a composite disturbance. The observer's observations, calculated at each time step, yield filters ι1, ι2, ι3, and ι4, which are then sent to the adaptive control module for torque disturbance. eliminate.

[0069] In step 3, the adaptive tracking module, which combines the disturbance value and the design, eliminates torque and voltage disturbances, adaptively adjusts unknown parameters and disturbances in the actual robotic arm system, and outputs control voltage to the robotic arm motor, including:

[0070] Step 301: Define the relevant variables involved;

[0071] Step 3011: Define the angular position error of the robotic arm z1 = yy d , where y d Set the desired position of the end effector spray gun of the robotic arm for the operator. This position can be set by the operator using a teaching pendant.

[0072] Step 3012: Define the angular velocity and motor current error z2 = x2 - α1, z3 = x3 - α2, where α1 and α2 are both virtual controller signals designed and appear in the following derivation;

[0073] Step 3013: Define Q2 = 0, Q2 and Q3 are both intermediate variables, serving to simplify operations, but have no practical significance.

[0074] Step 3014: Definition Perturbation estimation and disturbance estimation error and

[0075] Step 3015: Definition Perturbation estimation error boundary η: Wherein, the perturbation estimate of η and disturbance estimation error

[0076] Step 3016: To facilitate the adaptive algorithm in automatically adjusting the values ​​of unknown parameters p2, θ, and δ, define the adaptive variable Θ = [p2, θ, δ]. T , The perturbation estimate of Θ and disturbance estimation error

[0077] Step 3017: Definition As an intermediate variable, it has no practical significance;

[0078] Step 3018: According to and It can be deduced that:

[0079] in

[0080] Step 302: Based on the parameters from step 301, design a virtual control signal, and eliminate torque disturbances and voltage disturbances through torque disturbance elimination control methods and voltage disturbance elimination control methods; specifically including:

[0081] Step 3021: Generate the virtual control signal α1 of the virtual controller;

[0082] First, taking the derivative with respect to z1, we get:

[0083] Choose the Lyapunov function as: Differentiating gives

[0084] Therefore, a virtual controller is designed. Where c1>0 is the design control parameter;

[0085] Substitution and derivation yield:

[0086] Step 3022: Introduce a torque disturbance elimination control method to process the virtual control signal α1 to obtain the virtual control signal α2 for the control algorithm, specifically including:

[0087] First, differentiate with respect to α1:

[0088]

[0089] Then, taking the derivative with respect to z2, we get:

[0090]

[0091] in, As an intermediate variable;

[0092] Choose the Lyapunov function in the second step.

[0093] in, and Let μ1 be the estimation error and the estimated value of ρ, respectively, and μ2>0 be the control parameter.

[0094] Therefore, the derivative of V2 is:

[0095]

[0096] intermediate variables

[0097] The virtual controller is derived as follows:

[0098] And update

[0099] Finally, the returnee obtained

[0100] Step 3023: Based on the virtual control signal α2, introduce a voltage disturbance elimination control method to obtain the final control voltage u;

[0101] First, differentiate with respect to α²:

[0102]

[0103] Differentiate with respect to z3:

[0104] in,

[0105] The third step is to select the Lyapunov function as follows: Differentiating, we get:

[0106]

[0107] Where c3 > 0 is a control parameter, and

[0108] Therefore, the adaptive rate is derived. and have to

[0109] Finally, the control voltage is obtained. Substitute back to get

[0110] Example 2

[0111] like Figure 2 As shown, this embodiment provides a tracking and control system for a spraying robotic arm, including:

[0112] The data acquisition module is configured to acquire the operating parameters of the robotic arm linkage and motor for spraying antique building components.

[0113] The composite disturbance observation module is configured to calculate disturbance observation values ​​by combining the operating parameters of the linkage and motor of the robotic arm used for spraying the antique building components with the constructed composite disturbance observer; wherein, the construction process of the composite disturbance observer is as follows:

[0114] A system model of a spraying robot arm is constructed to consider the impact of external interference from both external forces and motor voltage on the actual operation of the robot arm during practical application.

[0115] Based on the model of the spraying robot arm system, multiple filters are constructed, and the predicted value of the composite disturbance applied to the torque is estimated by combining the filters.

[0116] The adaptive tracking module is configured to: combine disturbance observations to adaptively track and control the painting robot arm, eliminate torque disturbances and voltage disturbances, adaptively adjust unknown parameters and disturbances in the actual robot arm system, and output control voltage to the robot arm motor to control the robot arm movement.

[0117] Example 3

[0118] This embodiment provides a controller, including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a spraying robot arm tracking control method as described in Embodiment 1.

[0119] Example 4

[0120] This embodiment provides a robot, which includes at least: a robot body and a controller as described in Embodiment 3.

[0121] Example 5

[0122] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the spraying robot tracking control method described in Embodiment 1.

[0123] Example 6

[0124] This embodiment provides a program product, which is a computer program product, including a computer program. When the computer program is executed by a processor, it implements the steps in the spraying robot tracking control method described in Embodiment 1.

[0125] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0126] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0127] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0128] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0129] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0130] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A tracking control method for a spraying robotic arm, characterized in that, Includes the following steps: Obtain the operating parameters of the robotic arm linkage and motor for spraying antique building components; The disturbance observation value is calculated by combining the operating parameters of the robotic arm linkage and motor for spraying the antique building components with the constructed composite disturbance observer; wherein, the construction process of the composite disturbance observer is as follows: A system model of a spraying robot arm is constructed to consider the impact of external interference from both external forces and motor voltage on the actual operation of the robot arm during practical application. The model for constructing the spraying robotic arm system is as follows: in, For rotational inertia, This refers to the angle position of the robotic arm link. Angular velocity, For acceleration, This indicates the joint torque of the robotic arm. External forces are applied to the environment, and the end effector of the robotic arm experiences recoil from the paint released by the spray gun during the painting process. This is the motor current. For input control voltage, , and These are centrifugal force, friction, and gravity. The coefficient representing the relationship between current and the generated torque, where, and Here are the torque constant and the combined deceleration coefficient. For armature inductance, It is the circuit resistance. This represents the reverse momentum constant of the motor. This represents motor voltage disturbance; The mathematical model of the robotic arm system is improved through substitution. , , , , Rewritten as: in, , It is an unknown parameter. These are known parameters. and It is a known function. and As a control method, disturbances applied to torque and voltage need to be addressed; Design a composite disturbance estimation method ,in The constant variable [1,0] is known, ω is unknown, and there is an expression for it. Where X is a known matrix , It is a known function , It is an unknown constant variable; Based on the model of the spraying robot arm system, multiple filters are constructed, and the predicted value of the composite disturbance applied to the torque is estimated by combining the filters. In order to construct Composite disturbance observer, design four filters , , and : ， Where E is a known constant. The predicted value of ω can be obtained by combining four filters. : ， Thus, a composite disturbance applied to the torque is obtained. Predicted value : ， in and They are respectively and The estimation error, , ; This is a composite disturbance. The observer's observations are used to calculate the filter at each time step. , , and The adaptive control module is then sent to handle torque disturbances. eliminate; By combining disturbance observations, adaptive tracking control is applied to the spraying robot arm to eliminate torque and voltage disturbances, adaptively adjust unknown parameters and disturbances in the actual robot arm system, and output control voltage to the robot arm motor to control the robot arm's movement.

2. The tracking control method for a spraying robotic arm as described in claim 1, characterized in that, The operating parameters of the robotic arm linkage and motor for spraying the antique building components include the angular position, angular velocity, acceleration, and motor current data of the robotic arm linkage.

3. The tracking control method for a spraying robotic arm as described in claim 1, characterized in that, When constructing the model of the painting robot arm system, the variables of the painting robot arm system model are defined and assigned values ​​based on the physical structure of the robot arm and the motor model in actual applications, combined with simulation and actual robot arm testing.

4. The tracking control method for a spraying robotic arm as described in claim 1, characterized in that, The adaptive tracking control of the spraying robot arm, which combines disturbance observations, eliminates torque and voltage disturbances, adaptively adjusts unknown parameters and disturbances in the actual robot arm system, and outputs control voltage to the robot arm motor, including: The first virtual control signal is generated by combining the angular position error of the robotic arm; A torque disturbance elimination control method is introduced to process the first virtual control signal to obtain a second virtual control signal for adaptive tracking control; A voltage disturbance elimination control method is introduced to process the second virtual control signal to obtain the final control voltage signal to control the robot arm motor.

5. A tracking control system for a painting robot arm employing the tracking control method for a painting robot arm as described in any one of claims 1-4, characterized in that, include: The data acquisition module is configured to acquire the operating parameters of the robotic arm linkage and motor for spraying antique building components. The composite disturbance observation module is configured to calculate disturbance observation values ​​by combining the operating parameters of the linkage and motor of the robotic arm used for spraying the antique building components with the constructed composite disturbance observer; wherein, the construction process of the composite disturbance observer is as follows: A system model of a spraying robot arm is constructed to consider the impact of external interference from both external forces and motor voltage on the actual operation of the robot arm during practical application. Based on the model of the spraying robot arm system, multiple filters are constructed, and the predicted value of the composite disturbance applied to the torque is estimated by combining the filters. The adaptive tracking module is configured to: combine disturbance observations to adaptively track and control the painting robot arm, eliminate torque disturbances and voltage disturbances, adaptively adjust unknown parameters and disturbances in the actual robot arm system, and output control voltage to the robot arm motor to control the robot arm movement.

6. A controller, characterized in that, The system includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a spraying robot tracking control method as described in any one of claims 1 to 4.

7. A robot, characterized in that, At least including: The robot body and the controller as described in claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the spraying robot tracking control method as described in any one of claims 1 to 4.

9. A program product, said program product being a computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps in the spraying robot tracking control method as described in any one of claims 1 to 4.

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