Trajectory Planning and Tracking Control for LED Placement Spray Wax Robot
For the motion system of a LED placement spray wax robot,this paper uses shortest path planning method of optimization theory to plan the robots motion trajectory.It uses high order polynomial to plan spray wax robots joint movement.Guided by the determining learning theory,this paper uses radial basis function(RBF)to design an adaptive neural network controller(ANNC).It tracks and controls the motion process of robot to move along the planned trajectory.This ensures the stability and rapidity of robot movement to achieve the purpose of save time and energy.Experiment is conducted using the algorithm designed in this paper,and comparison experiment with PID algorithm is also well done.The experimental results illustrate the effectiveness of the method designed in this paper.
LED placement spray wax robots Trajectory planning Tracking Control Radial basis function neural network
WANG Zuoxun XU De LI Lin ZHANG Yingchun
Research Center of Precision Sensing and control,Institute of Automation,Chinese Academy of Sciences Research Center of Precision Sensing and control,Institute of Automation,Chinese Academy of Sciences School of Electrical Engineering and Automation Qilu University of Technology,Jinan 250353,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8058-8063
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）