Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors

摘要

In this paper, aiming at the problem of high-precision trajectory tracking of the gantry welding robot system under the influence of uncertain factors, a composite adaptive fuzzy compensation controller based on the computed torque control strategy has been proposed. The controller is composed of an adaptive fuzzy feedback control strategy and a dead zone adaptive fuzzy control strategy, which realizes high-precision trajectory tracking of the gantry welding robot, improves the solving speed of the control algorithm, and its tracking errors has been reduced. Screw theory and Lie group lie algebra are used to solve the problem of high algorithm complexity of controllers in multi-degree-of-freedom robot systems due to Newton-Euler dynamics modeling. Based on the computed torque control, the adaptive fuzzy feedback control strategy is adopted to compensate for the modeling errors and external disturbances in the gantry welding robot system, and the dead zone adaptive fuzzy control strategy is designed to compensate for the nonlinear dead zone structure with unknown parameters. The Lyapunov equation is introduced to prove the stability of the controller. Finally, the controller designed in this paper is compared with the conventional controller through simulation and experiment on the gantry welding robot platform, which verifies the effectiveness and superiority of the controller.