Kinematics model-free trajectory tracking method for robotic arms and robotic arm system

US12053889B2 · kind B2 · utility

Assignee

• SUN YAT-SEN UNIVERSITY · CN

Inventors

• Ning Tan · Longbeilingcun, CN
• Mao Zhang · Fontana, US
• Peng Yu · 东风镇, CN

Key dates

• Filing date: Sep 18, 2020
• Grant date: Aug 6, 2024
• Expiry date: Sep 16, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/39219
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A kinematics model-free trajectory tracking method for a robotic arm includes the following steps. Obtain an actual trajectory equation ra(t) of the robotic arm at time t according to a sensor, and combines the actual trajectory equation ra(t) with a predetermined target trajectory equation rd(t) to obtain a first error function e(t). Obtain a differential equation (I) of a state change rate of a driver of the robotic arm. Obtain a second error function ε(t). Pass the second error function c(t) through the applied gradient neural network to obtain equation (IV). Jointly solve equation (I) and equation (IV) to obtain an joint state vector θ(t) of the robotic arm. Drive a motion of the robotic arm by a controller according to the joint state vector θ(t) of the robotic arm to complete trajectory tracking.