Double-arm humanoid robot trajectory tracking method based on improved terminal sliding mode algorithm

By improving the terminal sliding mode algorithm, establishing a dynamic model of the flexible joint and constructing an adaptive sliding surface, the mechanical vibration problem caused by the flexible joint was solved, and the trajectory tracking accuracy and stability of the robot under microgravity and high-speed motion were improved.

CN122353585APending Publication Date: 2026-07-10CHANGCHUN ARCHITECTURE & CIVILENGEERING CO LLEGE
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Patent Information

Application Number
CN202610555860.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-24
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing robot trajectory tracking methods based on terminal sliding mode fail to effectively integrate the dynamic characteristics of flexible joints, resulting in decreased mechanical vibration and robustness, making it difficult to ensure trajectory tracking accuracy and system stability under microgravity and high-speed motion.

Method used

By establishing a dynamic model that includes flexible joints, conducting online vibration mode analysis, constructing an adaptive sliding surface, and designing a control law by combining it with a linear extended state observer, a non-singular terminal sliding surface with adaptive frequency and damping is generated, thereby realizing feedforward compensation and closed-loop control of lumped disturbances.

Benefits of technology

It significantly suppressed mechanical vibrations caused by flexible joints, improved the stability and robustness of the robot in complex dynamic scenarios, and ensured trajectory tracking accuracy.

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Abstract

The invention relates to a two-arm humanoid robot trajectory tracking method based on an improved terminal sliding mode algorithm, and aims to solve the problems that a controller is liable to induce high-frequency vibration and the robustness is reduced due to neglect of joint flexibility in the prior art. Extracting instantaneous vibration frequency and damping characteristic parameters of the system on line; dynamically constructing a self-adaptive nonsingular terminal sliding mode surface with frequency avoidance and damping injection capabilities by utilizing the characteristic parameters; real-time estimation and feed-forward compensation are carried out on system lumped disturbance by combining a linear expansion state observer, and a continuous and smooth composite control law is designed; the steps are integrated through a closed-loop execution process, high-precision tracking of an expected trajectory is achieved, meanwhile, residual vibration of the flexible joint is effectively restrained, and the stability and robustness of the system under complex working conditions are remarkably improved.
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