The Motion Trajectory Optimal Control of Robot Based on Small PLC
- 10.2991/asei-15.2015.92How to use a DOI?
- kinematics; motion trajectory tracking; robot;
in the process of studying robot motion trajectory optimal control method, when using the current algorithm to process optimal control for robot motion trajectory, there are problems of a large amount of calculation and complex control process. For this purpose, a robot motion trajectory optimal control method based on small PLC algorithm is proposed. The ruled surface generation principle is fused to describe position and posture of robot end effector, ruled surface area and its change rate formed by the motion trajectory of equivalent angular displacement vectors are acted as functional extremum, Lyapunov function is introduced into PLC instruction system on the basis, and the robot feedback tracking control law is designed to establish robot nonlinear kinematic model based on Small PLC control, and then effectively complete robot motion trajectory optimal control. The experimental simulation shows that the motion trajectory optimal control method based on the small PLC algorithm has the high accuracy, and the adaptability is high.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yongfei Zhang AU - Wei Zheng PY - 2015/05 DA - 2015/05 TI - The Motion Trajectory Optimal Control of Robot Based on Small PLC BT - Proceedings of the 2015 International conference on Applied Science and Engineering Innovation PB - Atlantis Press SP - 454 EP - 458 SN - 2352-5401 UR - https://doi.org/10.2991/asei-15.2015.92 DO - 10.2991/asei-15.2015.92 ID - Zhang2015/05 ER -