Synchronization control algorithm model and control strategy for robotic arm based on deviation coupling

Weier Qin

doi:10.1117/12.3030387

5 June 2024 Synchronization control algorithm model and control strategy for robotic arm based on deviation coupling

Weier Qin

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 1316369 (2024) https://doi.org/10.1117/12.3030387
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

The robotic arm is a strongly nonlinear system with unbalanced multi-axis loads in motion. Aiming at the problem that the traditional PD trajectory tracking algorithm does not consider the synchronization between multiple axes, a synchronization control strategy based on deviation coupling is proposed to enhance the synchronization of multiple axes and reduce the synchronization error. Firstly, the dynamics model of the robotic arm is established, then the control model of the deviation coupling synchronization control algorithm is designed, and finally the effectiveness of the algorithm is verified using simulation. The simulation results show that the method effectively reduces the joint synchronization error and improves the trajectory accuracy of the end compared with the traditional PD control algorithm.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Weier Qin "Synchronization control algorithm model and control strategy for robotic arm based on deviation coupling", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 1316369 (5 June 2024); https://doi.org/10.1117/12.3030387

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