An Minimum-Energy-Based High-Degree Polynomial Trajectory Planning and Tracking Control for an LCD Glass-handling Robot

摘要

A new method of minimum-energy point-to-point (PTP) trajectory planning is proposed for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The variable structure controller (VSC) is designed to track the trajectories and compensate LuGre model of frictional torque effects. The robot system is described by a mechanical equation and an electrical equation. To generate the minimum-energy trajectory, we employ a high-degree polynomial with suitable end-point conditions. The real-coded genetic algorithm (RGA) is used to search for the coefficients of the polynomial with the fitness function of minimum-energy input. Finally, numerical simulations of the minimum-energy inputs are compared for various degrees of polynomials. It is concluded that the proposed methodology can effectively design the minimum-energy trajectory, and the nonlinear VSC can track the designed trajectories for the robot system driven by a PMSM.