Robot Joint Trajectory Tracking Control Algorithm with Human-like Smooth Reaching Motion Profile Based on Sole Velocity Feedback

摘要

This study proposes a novel model-free robotmanipulator joint position and velocity tracking controller witha simple structure for controlling a robotic manipulator withhuman-like reaching motion according to human movementcharacteristics. The proposed design guarantees the responsesof the tracking error within preset bounds using velocityfeedback. A structurally and computationally naturallogarithmic controller is designed to achieve joint position andvelocity tracking of a desired trajectory of a reaching motionprofile with prescribed performance (PP) bounds. Simulationsof a three-degree-of-freedom spatial manipulator with the PPcontroller confirm the conclusions even in case of typical inputdisturbances. Results show that the PP controller outperformsthe traditional position and derivative (PD) trajectory trackingcontroller without requiring excessive control effort. Theproposed controller that uses sole velocity feedback achieves thecontrol objective with bell-shaped joint velocity profiles andjoint consistency. Thus, the proposed controller outperformsthe traditional PD trajectory tracking controller that usesposition and velocity feedback with comparable control effort.The experiment with a KUKA robot manipulator demonstratesthat the control algorithm of sole velocity feedback can be usedto achieve smooth reaching movements within a short travellingtime of less than 1 s. The movements are characterised bybell-shaped joint velocity profiles and joint position consistencysimilar to human movements.