A dynamic trajectory control method and device for SCARA robot

Abstract

The application discloses a dynamic trajectory control method of SCARA robot. According to a kinematic model, the coordinate transformation relationship of each joint and connecting rod is analyzed by using a homogeneous transformation matrix to determine an initial pose and a target pose; a dynamic model is established based on a Lagrange equation to determine the dynamic parameters to be identified; a random weight particle swarm optimization algorithm is used for parameter identification; a sliding mode robust term RBF neural network adaptive controller is constructed according to the identification result to realize real-time trajectory control, so that an end effector moves along a preset dynamic trajectory to the target pose; and the real-time pose is detected by a sensor and compared with the target pose, and it is determined to reach when the error is less than a threshold value. The application improves the model precision and identification efficiency through modeling and efficient parameter identification, the compound controller effectively compensates for the model uncertainty, disturbance and nonlinear factors, realizes closed-loop control and online adjustment, and improves the trajectory tracking precision, system stability and dynamic response speed.

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