The increased demand for robotic manipulator has driven the development of industrial manufacturing. In particular, the trajectory tracking and contact constant force control of the robotic manipulator for the working environment under contact condition has become popular because of its high precision and quality operation. However, the two factors are opposite, that is to say, to maintain constant force control, it is necessary to make limited adjustment to the trajectory. It is difficult for the traditional PID controller because of the complexity parameters and nonlinear characteristics. In order to overcome this issue, a PID controller based on fuzzy neural network algorithm is developed in this paper for tracking the trajectory and contact constant force simultaneously. Firstly, the kinetic and potential energy is calculated, and the Lagrange function is constructed for a two-link robotic manipulator. Furthermore, a precise dynamic model is built for analyzing. Secondly, fuzzy neural network algorithm is proposed, and two kinds of turning parameters are derived for trajectory tracking and contact constant force control. Finally, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.
To achieve precise trajectory tracking of robotic manipulators in complex environment, the precise dynamic model, parameters identification, nonlinear characteristics, and disturbances are the factors that should be solved. Although parameters identification and adaptive estimate method were proposed for robotic control in many literature studies, the essential factors, such as coupling and friction, are rarely mentioned as it is difficult to build the precise dynamic model of the robotic manipulator. An adaptive backstepping sliding mode control is proposed to solve the precise trajectory tracking under external disturbances with complex environment, and the dynamic response characteristics of a two-link robotic manipulator are described in this paper. First, the Lagrange kinetic method is used to derive the precise dynamic model which includes the nonlinear factor with friction and coupling. Moreover, the dynamic model of two-link robotic manipulator is built. Second, the estimate function for the nonlinear part is selected, and backstepping algorithm is used for analyzing the stabilities of the sliding mode controller by using Lyapunov theory. Furthermore, the convergence of the proposed controller is verified subject to the external disturbance. At last, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.
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