Robot Trajectory Tracking Control Based on Look-up Table Method

QIANG YANG, JUN ZHAO, FU-CHENG SONG, GUO HE

Abstract


This paper proposed a simple and applicable look-up table based trajectory tracking control scheme for robot. Based on the robot’s kinematics model and the saturation constraint of the control inputs, a control-trajectory table was established using the European numerical calculation method. The optimal control values can be determined under the look-up table criteria. Finally, the simulation results of trajectories with different characteristics of straight line, sine line and circle show the effectiveness of the proposed scheme.

Keywords


Robot, Trajectory tracking, Looking-up table, Optional control.Text


DOI
10.12783/dteees/epme2018/24637

Full Text:

PDF

Refbacks

  • There are currently no refbacks.