### Research on the Trajectory Tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models

SUN Hao1, HUANG Ling1, HE Liang2

1. 1. School of Automation, Harbin University of Science and Technology, Harbin 150080, China;
2. School of Software, Northwestern Polytechnical University, Xi’an 710072, China
• Received:2022-01-16 Revised:2022-02-22 Published:2022-04-13
• Supported by:
This research was supported by the Natural Science Foundation of Heilongjiang Province under Grant No. LH2020F035.

SUN Hao, HUANG Ling, HE Liang. Research on the Trajectory Tracking Control of a 6-DOF Manipulator Based on Fully-Actuated System Models[J]. Journal of Systems Science and Complexity, 2022, 35(2): 641-659.

The multi-degree of freedom (muti-DOF) manipulator system is a complex control system with the strong coupling feature and high nonlinearity. In this paper, trajectory tracking control of a six-degree of freedom (6-DOF) manipulator based on fully-actuated system models and a direct parametric method is investigated. The fully-actuated system model of the 6-DOF manipulator is established by using the Denavit Hartenberg (DH) notation and Euler-Lagrange dynamics. A disturbance observer is constructed to solve the nonlinear uncertainties such as unmodeled dynamics and external disturbances. Then, a controller is designed using the direct parametric method to make the 6-DOF manipulator reach the desired position with high accuracy. After that, a switching control strategy is developed to suppress the peak value belonging to the controller. Simulation results reveal the effect of the proposed control approach.