JING Fengshui1, YANG Chao1,2, YANG Guodong1, TAN Min1
1. State key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
Abstract：To reduce the pose error of the robot end during trajectory tracking, an implementation of the integral-type rectification controller is proposed based on the robot trajectory rectification model. In the proposed method, the error is compensated directly in the joint space of the robot. Based on the aforementioned model and a series of assumptions, it is proved mathematically that the rectification error converges with a negative exponent by adopting the proportional-integral rectification controller, which demonstrates the effectiveness of the integral-type rectification controller. The experiment results show that in the case of the initial trajectory deviation of 8 mm, the RMS (root mean square) value and the maximum value of the tracking deviation are reduced to less than 0.07 mm and 0.4 mm respectively through setting appropriate parameters for the rectification controller.
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