Design of trajectory tracking control for adaptive intelligent detection based on 6-DOF manipulator

Abstract

This paper proposes a PD based trajectory tracking control method with 6-DOF robot manipulator, which can realize the dynamic tracking of a given angle trajectory. The high-precision laser tracker is used to measure the spatial pose, including position and orientation, of tested sample. And the pose sequence is considered as the expected value of the end effector going through. An interpolation method is proposed for the sake of smooth transition of poses. Then the pose trajectory is converted to joint angle trajectory by using inverse kinematics, which is regarded as the expected value of dynamics system of robotic manipulator. Simulation results show the effectiveness of the proposed approach.