The Position Control Method of two Joint Manipulator Based on Sliding Mode and Trajectory Setting Algorithm of Quintic Polynomial Interpolation

Abstract

Two joint Manipulator attract more attention in industrial application, which highlights the importance of trajectory tracking accuracy and output vibration suppression in manipulator control system. This paper presents a novel vibration suppression and position control approach for a two joint manipulator. Firstly, the trajectory setting algorithm based on fifth-order polynomial interpolation is developed, which greatly contributes to solve the problem of the acceleration discontinuity in the continuous trajectory when compared with the cubic polynomial interpolation method, thereby further restrains the output vibration degree of the manipulator in the process of motion. Secondly, in order to improve the tracking performance and control precision, a position controller based on sliding mode control is then designed by sufficiently considering its kinematics analysis and dynamic model, whose stability is also proved. Finally, the whole system simulation on MATLAB/Simulink platform is performed to verify the effectiveness and its related performance of the proposed method. Compared to the tractional PD controller, the simulation results indicate that the proposed method achieves more better dynamic performance of trajectory tracking and position control accuracy, especially in acceleration and output torque vibration suppression.