伸缩因子优化机械臂轨迹跟踪控制的误差分析

doi:10.3969/j.issn.1000-1158.2020.10.01

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Abstract A variable universe fuzzy controller whose universe can be adjusted by contraction-expansion factor in real time is proposed to optimize the trajectory tracking effect of the manipulator. Firstly, a scale-exponential hybrid contraction-expansion factor whose functional form is related to the dynamic weight of joint-angle deviation and joint-deviation variation is designed. Secondly, the desired joint-trajectory in cartesian space is calculated by using the time-optimal path-following algorithms. Finally, the simulation of the trajectory tracking control of a three-joint manipulator is realized by using the designed variable universe fuzzy controller, and the trajectory tracking error is analyzed further. The simulation results show that the designed variable universe fuzzy controller using scale-exponential hybrid contraction-expansion factor has the advantage of better trajectory tracking control effect, faster response speed, smaller steady-state error and no overshoot.

Key words： metrology manipulator trajectory tracking contraction-expansion factor variable universe fuzzy control control error

Received: 30 April 2019 Published: 10 October 2020

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	WANG Hong-tao
	JIANG Wen-song
	JIANG Qing-ze
	ZHANG Qiang
	DAI Ning

Cite this article:

WANG Hong-tao,JIANG Wen-song,JIANG Qing-ze, et al. Error Analysis of Optimizing Manipulator Trajectory Tracking Controller Based on Contraction-expansion Factor[J]. Acta Metrologica Sinica, 2020, 41(10): 1177-1183.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2020.10.01 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2020/V41/I10/1177

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