Title:
GENERALIZED DYNAMIC PREDICTIVE CONTROL METHOD FOR REALIZING TRAJECTORY TRACKING OF MANIPULATOR SYSTEM
Document Type and Number:
WIPO Patent Application WO/2024/093507
Kind Code:
A1
Abstract:
Provided is a generalized dynamic predictive control method for realizing trajectory tracking of a manipulator system, which relates to the technical field of manipulator system predictive control. The method comprises: generating a manipulator system, and performing mathematical model construction by means of the manipulator system. By means of setting combined with static-error-free predictive control, trajectory tracking control of a controlled manipulator system may achieve higher tracking control precision; by means of a predictive control time-domain online update mechanism, the adaptive transient performance optimization capability of the manipulator system can also be well guaranteed; and by means of a design framework based on generalized predictive control, there is a concise and clear guidance mechanism for the selection of control parameters, and the speed and position amount of each joint of the manipulator system are collected by means of position and speed sensors with good measurement performance, such that the closed-loop manipulator system can be adapted to various industrial scenarios and has relatively good trajectory adjustment performance, thereby improving the overall intelligent management level.
Inventors:
HAO HAO (CN)
LIU HUANYU (CN)
HE YANGHUA (CN)
WANG WENJIE (CN)
LIU HUANYU (CN)
HE YANGHUA (CN)
WANG WENJIE (CN)
Application Number:
PCT/CN2023/116963
Publication Date:
May 10, 2024
Filing Date:
September 05, 2023
Export Citation:
Assignee:
SHANGHAI POLYTECHNIC UNIV (CN)
International Classes:
B25J9/16; G05B13/04
Attorney, Agent or Firm:
QINGDAO ZHIJIA INTELLECTUAL PROPERTY AGENCY FIRM (GENERAL PARTNERSHIP) (Building 2 Guoxin Financial Center, 31 Xianxialing Road, Laoshan Distric, Qingdao Shandong 0, CN)
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