Research on the Trajectory Tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models

The multi-degree of freedom (muti-DOF) manipulator system is a complex control system with the strong coupling feature and high nonlinearity. In this paper, trajectory tracking control of a six-degree of freedom (6-DOF) manipulator based on fully-actuated system models and a direct parametric method is investigated. The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg (DH) notation and Euler-Lagrange dynamics. A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances. Then, a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy. After that, a switching control strategy is developed to suppress the peak value belonging to the controller. Simulation results reveal the effect of the proposed control approach.

Automated summary

This paper investigates the trajectory tracking control of a six-degree of freedom manipulator using fully-actuated system models and a direct parametric method. The controller is designed to address the strong coupling and nonlinearity of the system. Simulation results demonstrate the effectiveness of the proposed control approach.