Realization of mobile robot trajectory tracking control based on interpolation

摘要

For a problem of trajectory tracking control of a polishing robot for large free form surfaces, according to the kinematics model the robot, this paper has achieved the trajectory tracking control using the method of interpolation. The process of trajectory tracking control is analyzed in the paper as well as how to implement it. Experiments show that the method presented in this paper can get a better robot trajectory tracking performance under the premise of ensuring the feed rate of the robot.