Simulation and Research of A Manipulator Control System Based on PD Calculation Torque Method

Abstract

Based on the PD control torque, the PD calculation moment method introduces nonlinear compensation to transform the manipulator, which is a multi-input, multi-output, nonlinear and strongly coupled system, into a decoupled linear time-invariant system, so as to achieve a good effect of controlling the manipulator. The feedback linearization theory in nonlinear control theory is used to prove the introduced feedback nonlinear compensation. In addition, the MATLAB software is used to analyze and research the control system, and good control effect is obtained.