Safe Trajectory Tracking of Manipulator based on Sliding Mode Control

摘要

In view of the collision problem between the manipulator and operators in the industrial scene of human-robot interaction, a safe trajectory tracking method of manipulator based on sliding mode control is proposed. The method uses a sliding mode controller to achieve high-precision and fast tracking of joint trajectory. On this basis, a collision response strategy is added, that is, the estimated external torque and desired joint velocity are used as inputs to modify the interpolation time of fifth-order spline trajectory. Simulation results show that the method we proposed works well on AUBO-iS. When the manipulator touches a stationary obstacle, it slows down and then remains stationary. If the obstacle is approaching, the manipulator moves backward along the desired trajectory. After removing the obstacle, the manipulator moves forward along the desired traj ectory.