一种适用于冗余或非冗余机械臂的实时轨迹跟踪控制方法和系统
By using a data-driven adaptive control method to update the pseudo-inverse of the Jacobian matrix in real time, the trajectory tracking problem of the robotic arm in a dynamic and uncertain environment is solved, achieving high-precision and robust trajectory tracking control, which is applicable to both redundant and non-redundant robotic arms.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUNAN UNIV
- Filing Date
- 2026-04-09
- Publication Date
- 2026-07-17
AI Technical Summary
Existing robotic arm control methods rely heavily on precise dynamic models, making it difficult to adapt to the dynamic uncertainties of real-world systems. This results in non-redundant robotic arms being insufficiently adaptable to disturbed environments, while redundant robotic arms suffer from improper allocation of redundant degrees of freedom in complex tasks, affecting trajectory tracking accuracy and robustness.
A data-driven adaptive control method is adopted, which updates the pseudo-inverse matrix of the Jacobian matrix online by measuring the end-effector pose increment in real time, thereby achieving real-time trajectory tracking without relying on an accurate model. This method is applicable to both redundant and non-redundant robotic arms.
It improves the trajectory tracking accuracy and robustness of the robotic arm in complex environments, reduces the dependence on precise models, enhances the practicality and stability of the system, and has good versatility and environmental adaptability.
Smart Images
Figure CN121989262B_ABST