Manipulator Trajectory Tracking Based on Kinematics Model Predictive Control

Abstract

This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinematics model predictive control. Firstly, the kinematics of the manipulator was analyzed, and modeled mathematically. Next, the pose errors of the end effector were determined against the error parameters involving joints and rods. After that, the pose error model of the end effector was adopted to quantify how much the errors of different parameters affect the location of the manipulator. Finally, the geometric errors of manipulator trajectory were identified by the least squares (LS) method. Experimental results show the effectiveness of our model. The research results provide a reference for the theoretical analysis and application of manipulator trajectory tracking strategy.