Research on trajectory tracking control of multiple degree of freedom manipulator

Abstract

According to the multiple degree of freedom manipulator trajectory tracking instability in a timely manner, the paper uses the fuzzy neural network algorithm of trajectory tracking control. Fuzzy neural network control algorithm combining the advantages of the two algorithms effectively, do not rely on multiple DOF mechanical arm precision model structure, which can be directly used to control the amount of self-learning by adjusting mechanical arm joint, and then determine the structure and parameters of control, very suitable for the control of multiple degree of freedom mechanical arm. The analysis and simulation studies show that the fuzzy neural network controller can track the multiple DOF mechanical arm trajectory control system has strong adaptability and robustness.