Control system of trajectory tracking of discretely-actuated manipulator based on computed torque method

Abstract

In the past, in the process of tracking and controlling the discretely-actuated manipulator, the tracking result has a large error. To this end, a control system of trajectory tracking of discretely-actuated manipulator based on computed torque method was designed. The overall framework of the system was analyzed and designed, and the hardware of the system was designed in an integrated DSP information processing environment. The design of the monocular stereo sensor, drive controller, servo drive, etc. was described in detail. Then the control algorithm, the computed torque method, was analyzed. Finally, with the help of the control platform of discretely-actuated manipulator, the control system of trajectory tracking of discretely-actuated manipulator based on computed torque method was verified. After the different control algorithms were added, the trajectory tracking accuracy of the discretely-actuated manipulator was compared. The experimental results show that the maximum errors of each joint in the system are 0.0568 rad, 0.0347 rad and 0.0044 rad, which are lower than the traditional system, it is shows that the reliability of the system is verified.